src/main/drivers/headtracker_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_HEADTRACKER
  21
  22 #include <stdio.h>
  23 #include <stdint.h>
  24 #include <stdlib.h>
  25 #include <string.h>
  26
  27 #include <build/debug.h>
  28 #include <config/parameter_group_ids.h>
  29
  30 #include "settings_generated.h"
  31
  32 #include "common/time.h"
  33 #include "common/maths.h"
  34
  35 #include "drivers/time.h"
  36
  37 #include "fc/cli.h"
  38
  39 #include "rx/rx.h"
  40
  41 #include "drivers/headtracker_common.h"
  42
  43 PG_REGISTER_WITH_RESET_TEMPLATE(headTrackerConfig_t, headTrackerConfig, PG_HEADTRACKER_CONFIG, 1);
  44
  45 PG_RESET_TEMPLATE(headTrackerConfig_t, headTrackerConfig,
  46     .devType = SETTING_HEADTRACKER_TYPE_DEFAULT,
  47     .pan_ratio = SETTING_HEADTRACKER_PAN_RATIO_DEFAULT,
  48     .tilt_ratio = SETTING_HEADTRACKER_TILT_RATIO_DEFAULT,
  49     .roll_ratio = SETTING_HEADTRACKER_ROLL_RATIO_DEFAULT,
  50 );
  51
  52 static headTrackerDevice_t *commonHeadTrackerDevice = NULL;
  53
  54 void headTrackerCommonInit(void)
  55 {
  56 }
  57
  58 void headTrackerCommonSetDevice(headTrackerDevice_t *headTrackerDevice)
  59 {
  60     SD(fprintf(stderr, "[headTracker]: device added %p\n", headTrackerDevice));
  61     commonHeadTrackerDevice = headTrackerDevice;
  62 }
  63
  64 headTrackerDevice_t *headTrackerCommonDevice(void)
  65 {
  66     return commonHeadTrackerDevice;
  67 }
  68
  69 void headTrackerCommonProcess(headTrackerDevice_t *headTrackerDevice, timeUs_t currentTimeUs)
  70 {
  71     if (headTrackerDevice && headTrackerDevice->vTable->process && headTrackerCommonIsReady(headTrackerDevice)) {
  72         headTrackerDevice->vTable->process(headTrackerDevice, currentTimeUs);
  73     }
  74 }
  75
  76 headTrackerDevType_e headTrackerCommonGetDeviceType(const headTrackerDevice_t *headTrackerDevice)
  77 {
  78     if (!headTrackerDevice || !headTrackerDevice->vTable->getDeviceType) {
  79         return HEADTRACKER_UNKNOWN;
  80     }
  81
  82     return headTrackerDevice->vTable->getDeviceType(headTrackerDevice);
  83 }
  84
  85 bool headTrackerCommonIsReady(const headTrackerDevice_t *headTrackerDevice)
  86 {
  87     if (headTrackerDevice && headTrackerDevice->vTable->isReady) {
  88         return headTrackerDevice->vTable->isReady(headTrackerDevice);
  89     }
  90     return false;
  91 }
  92
  93 int headTrackerCommonGetPan(const headTrackerDevice_t *headTrackerDevice)
  94 {
  95     if(headTrackerDevice && headTrackerDevice->vTable && headTrackerDevice->vTable->getPan) {
  96         return headTrackerDevice->vTable->getPan(headTrackerDevice);
  97     }
  98
  99     return constrain((headTrackerDevice->pan * headTrackerConfig()->pan_ratio) + 0.5f, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX);
 100 }
 101
 102 int headTrackerCommonGetTilt(const headTrackerDevice_t *headTrackerDevice)
 103 {
 104     if(headTrackerDevice && headTrackerDevice->vTable && headTrackerDevice->vTable->getTilt) {
 105         return headTrackerDevice->vTable->getTilt(headTrackerDevice);
 106     }
 107
 108     return constrain((headTrackerDevice->tilt * headTrackerConfig()->tilt_ratio) + 0.5f, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX);
 109 }
 110
 111 int headTrackerCommonGetRoll(const headTrackerDevice_t *headTrackerDevice)
 112 {
 113     if(headTrackerDevice && headTrackerDevice->vTable && headTrackerDevice->vTable->getRoll) {
 114         return headTrackerDevice->vTable->getRollPWM(headTrackerDevice);
 115     }
 116
 117     return constrain((headTrackerDevice->roll * headTrackerConfig()->roll_ratio) + 0.5f, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX);
 118 }
 119
 120 int headTracker2PWM(int value)
 121 {
 122     return constrain(scaleRange(value, HEADTRACKER_RANGE_MIN, HEADTRACKER_RANGE_MAX, PWM_RANGE_MIN, PWM_RANGE_MAX), PWM_RANGE_MIN, PWM_RANGE_MAX);
 123 }
 124
 125 int headTrackerCommonGetPanPWM(const headTrackerDevice_t *headTrackerDevice)
 126 {
 127     if(headTrackerDevice && headTrackerDevice->vTable && headTrackerDevice->vTable->getPanPWM) {
 128         return headTrackerDevice->vTable->getPanPWM(headTrackerDevice);
 129     }
 130
 131     return headTracker2PWM(headTrackerCommonGetPan(headTrackerDevice));
 132 }
 133
 134 int headTrackerCommonGetTiltPWM(const headTrackerDevice_t *headTrackerDevice)
 135 {
 136     if(headTrackerDevice && headTrackerDevice->vTable && headTrackerDevice->vTable->getTiltPWM) {
 137         return headTrackerDevice->vTable->getTiltPWM(headTrackerDevice);
 138     }
 139
 140     return headTracker2PWM(headTrackerCommonGetTilt(headTrackerDevice));
 141 }
 142
 143 int headTrackerCommonGetRollPWM(const headTrackerDevice_t *headTrackerDevice)
 144 {
 145     if(headTrackerDevice && headTrackerDevice->vTable && headTrackerDevice->vTable->getRollPWM) {
 146         return headTrackerDevice->vTable->getRollPWM(headTrackerDevice);
 147     }
 148
 149     return headTracker2PWM(headTrackerCommonGetRoll(headTrackerDevice));
 150 }
 151
 152
 153 #ifdef headTracker_UNIT_TEST
 154 void taskUpdateHeadTracker(timeUs_t currentTimeUs)
 155 {
 156 }
 157 #else
 158 void taskUpdateHeadTracker(timeUs_t currentTimeUs)
 159 {
 160     if (cliMode) {
 161         return;
 162     }
 163
 164     headTrackerDevice_t *headTrackerDevice = headTrackerCommonDevice();
 165
 166     if(headTrackerDevice) {
 167         headTrackerCommonProcess(headTrackerDevice, currentTimeUs);
 168     }
 169 }
 170
 171 // TODO: check if any headTracker types are enabled
 172 bool headTrackerCommonIsEnabled(void)
 173 {
 174     if (commonHeadTrackerDevice && headTrackerCommonIsReady(commonHeadTrackerDevice)) {
 175         return true;
 176     }
 177
 178     return false;
 179 }
 180
 181 bool headTrackerCommonIsValid(const headTrackerDevice_t *dev) {
 182     if(dev && dev->vTable && dev->vTable->isValid) {
 183         return dev->vTable->isValid(dev);
 184     }
 185
 186     return micros() < dev->expires;
 187 }
 188
 189
 190 #endif
 191
 192
 193 #endif