src/main/drivers/headtracker_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 #define MAX_HEADTRACKER_DATA_AGE_US HZ2US(25)
  23 #define HEADTRACKER_RANGE_MIN   -2048
  24 #define HEADTRACKER_RANGE_MAX   2047
  25
  26 #ifdef USE_HEADTRACKER
  27
  28 #include <stdint.h>
  29
  30 #include "common/time.h"
  31
  32 #include "drivers/time.h"
  33
  34 #include "config/feature.h"
  35
  36
  37 #ifdef __cplusplus
  38 extern "C" {
  39 #endif
  40
  41 typedef enum {
  42     HEADTRACKER_NONE   = 0,
  43     HEADTRACKER_SERIAL = 1,
  44     HEADTRACKER_MSP    = 2,
  45     HEADTRACKER_UNKNOWN = 0xFF
  46 } headTrackerDevType_e;
  47
  48
  49 struct headTrackerVTable_s;
  50
  51 typedef struct headTrackerDevice_s {
  52     const struct headTrackerVTable_s *vTable;
  53     int pan;
  54     int tilt;
  55     int roll;
  56     timeUs_t expires;
  57 } headTrackerDevice_t;
  58
  59 // {set,get}BandAndChannel: band and channel are 1 origin
  60 // {set,get}PowerByIndex: 0 = Power OFF, 1 = device dependent
  61 // {set,get}PitMode: 0 = OFF, 1 = ON
  62
  63 typedef struct headTrackerVTable_s {
  64     void (*process)(headTrackerDevice_t *headTrackerDevice, timeUs_t currentTimeUs);
  65     headTrackerDevType_e (*getDeviceType)(const headTrackerDevice_t *headTrackerDevice);
  66     bool (*isReady)(const headTrackerDevice_t *headTrackerDevice);
  67     bool (*isValid)(const headTrackerDevice_t *headTrackerDevice);
  68     int (*getPanPWM)(const headTrackerDevice_t *headTrackerDevice);
  69     int (*getTiltPWM)(const headTrackerDevice_t *headTrackerDevice);
  70     int (*getRollPWM)(const headTrackerDevice_t *headTrackerDevice);
  71     int (*getPan)(const headTrackerDevice_t *headTrackerDevice);
  72     int (*getTilt)(const headTrackerDevice_t *headTrackerDevice);
  73     int (*getRoll)(const headTrackerDevice_t *headTrackerDevice);
  74 } headTrackerVTable_t;
  75
  76
  77 typedef struct headTrackerConfig_s {
  78     headTrackerDevType_e devType;
  79     float pan_ratio;
  80     float tilt_ratio;
  81     float roll_ratio;
  82 } headTrackerConfig_t;
  83
  84 PG_DECLARE(headTrackerConfig_t, headTrackerConfig);
  85
  86 void headTrackerCommonInit(void);
  87 void headTrackerCommonSetDevice(headTrackerDevice_t *headTrackerDevice);
  88 headTrackerDevice_t *headTrackerCommonDevice(void);
  89
  90 // VTable functions
  91 void headTrackerCommonProcess(headTrackerDevice_t *headTrackerDevice, timeUs_t currentTimeUs);
  92 headTrackerDevType_e headTrackerCommonGetDeviceType(const headTrackerDevice_t *headTrackerDevice);
  93 bool headTrackerCommonIsReady(const headTrackerDevice_t *headtrackerDevice);
  94 bool headTrackerCommonIsValid(const headTrackerDevice_t *headtrackerDevice);
  95
  96 // Scaled value, constrained to PWM_RANGE_MIN~PWM_RANGE_MAX
  97 int headTrackerCommonGetPanPWM(const headTrackerDevice_t *headTrackerDevice);
  98 int headTrackerCommonGetTiltPWM(const headTrackerDevice_t *headTrackerDevice);
  99 int headTrackerCommonGetRollPWM(const headTrackerDevice_t *headTrackerDevice);
 100
 101 // Scaled value, constrained to -2048~2047
 102 int headTrackerCommonGetPan(const headTrackerDevice_t *headTrackerDevice);
 103 int headTrackerCommonGetTilt(const headTrackerDevice_t *headTrackerDevice);
 104 int headTrackerCommonGetRoll(const headTrackerDevice_t *headTrackerDevice);
 105
 106 void taskUpdateHeadTracker(timeUs_t currentTimeUs);
 107
 108 bool headtrackerCommonIsEnabled(void);
 109
 110
 111 #ifdef __cplusplus
 112 }
 113 #endif
 114
 115 #endif