src/main/drivers/gimbal_common.h

   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 #pragma once
  19
  20 #include "platform.h"
  21
  22 #ifdef USE_SERIAL_GIMBAL
  23
  24 #include <stdint.h>
  25
  26 #include "config/feature.h"
  27 #include "common/time.h"
  28
  29 #ifdef __cplusplus
  30 extern "C" {
  31 #endif
  32
  33 typedef enum {
  34     GIMBAL_DEV_UNSUPPORTED = 0,
  35     GIMBAL_DEV_SERIAL,
  36     GIMBAL_DEV_UNKNOWN=0xFF
  37 } gimbalDevType_e;
  38
  39
  40 struct gimbalVTable_s;
  41
  42 typedef struct gimbalDevice_s {
  43     const struct gimbalVTable_s *vTable;
  44     int16_t currentPanPWM;
  45 } gimbalDevice_t;
  46
  47 // {set,get}BandAndChannel: band and channel are 1 origin
  48 // {set,get}PowerByIndex: 0 = Power OFF, 1 = device dependent
  49 // {set,get}PitMode: 0 = OFF, 1 = ON
  50
  51 typedef struct gimbalVTable_s {
  52     void (*process)(gimbalDevice_t *gimbalDevice, timeUs_t currentTimeUs);
  53     gimbalDevType_e (*getDeviceType)(const gimbalDevice_t *gimbalDevice);
  54     bool (*isReady)(const gimbalDevice_t *gimbalDevice);
  55     bool (*hasHeadTracker)(const gimbalDevice_t *gimbalDevice);
  56     int16_t (*getGimbalPanPWM)(const gimbalDevice_t *gimbalDevice);
  57 } gimbalVTable_t;
  58
  59
  60 typedef struct gimbalConfig_s {
  61     uint8_t panChannel;
  62     uint8_t tiltChannel;
  63     uint8_t rollChannel;
  64     uint8_t sensitivity;
  65     uint16_t panTrim;
  66     uint16_t tiltTrim;
  67     uint16_t rollTrim;
  68 } gimbalConfig_t;
  69
  70 PG_DECLARE(gimbalConfig_t, gimbalConfig);
  71
  72 typedef enum {
  73     GIMBAL_MODE_FOLLOW = 0,
  74     GIMBAL_MODE_TILT_LOCK = (1<<0),
  75     GIMBAL_MODE_ROLL_LOCK = (1<<1),
  76     GIMBAL_MODE_PAN_LOCK  = (1<<2),
  77 } gimbal_htk_mode_e;
  78
  79 #define GIMBAL_MODE_DEFAULT             GIMBAL_MODE_FOLLOW
  80 #define GIMBAL_MODE_TILT_ROLL_LOCK      (GIMBAL_MODE_TILT_LOCK | GIMBAL_MODE_ROLL_LOCK)
  81 #define GIMBAL_MODE_PAN_TILT_ROLL_LOCK  (GIMBAL_MODE_TILT_LOCK | GIMBAL_MODE_ROLL_LOCK | GIMBAL_MODE_PAN_LOCK)
  82
  83 void gimbalCommonInit(void);
  84 void gimbalCommonSetDevice(gimbalDevice_t *gimbalDevice);
  85 gimbalDevice_t *gimbalCommonDevice(void);
  86
  87 // VTable functions
  88 void gimbalCommonProcess(gimbalDevice_t *gimbalDevice, timeUs_t currentTimeUs);
  89 gimbalDevType_e gimbalCommonGetDeviceType(gimbalDevice_t *gimbalDevice);
  90 bool gimbalCommonIsReady(gimbalDevice_t *gimbalDevice);
  91
  92
  93 void taskUpdateGimbal(timeUs_t currentTimeUs);
  94
  95 bool gimbalCommonIsEnabled(void);
  96 bool gimbalCommonHtrkIsEnabled(void);
  97
  98 int16_t gimbalCommonGetPanPwm(const gimbalDevice_t *gimbalDevice);
  99
 100 #ifdef __cplusplus
 101 }
 102 #endif
 103
 104 #endif