src/main/flight/servos.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 "config/parameter_group.h"
  21 #include "programming/logic_condition.h"
  22
  23 #define MAX_SUPPORTED_SERVOS 18
  24
  25 // These must be consecutive
  26 typedef enum {
  27     INPUT_STABILIZED_ROLL           = 0,
  28     INPUT_STABILIZED_PITCH          = 1,
  29     INPUT_STABILIZED_YAW            = 2,
  30     INPUT_STABILIZED_THROTTLE       = 3,
  31     INPUT_RC_ROLL                   = 4,
  32     INPUT_RC_PITCH                  = 5,
  33     INPUT_RC_YAW                    = 6,
  34     INPUT_RC_THROTTLE               = 7,
  35     INPUT_RC_CH5                    = 8,
  36     INPUT_RC_CH6                    = 9,
  37     INPUT_RC_CH7                    = 10,
  38     INPUT_RC_CH8                    = 11,
  39     INPUT_GIMBAL_PITCH              = 12,
  40     INPUT_GIMBAL_ROLL               = 13,
  41     INPUT_FEATURE_FLAPS             = 14,
  42     INPUT_RC_CH9                    = 15,
  43     INPUT_RC_CH10                   = 16,
  44     INPUT_RC_CH11                   = 17,
  45     INPUT_RC_CH12                   = 18,
  46     INPUT_RC_CH13                   = 19,
  47     INPUT_RC_CH14                   = 20,
  48     INPUT_RC_CH15                   = 21,
  49     INPUT_RC_CH16                   = 22,
  50     INPUT_STABILIZED_ROLL_PLUS      = 23,
  51     INPUT_STABILIZED_ROLL_MINUS     = 24,
  52     INPUT_STABILIZED_PITCH_PLUS     = 25,
  53     INPUT_STABILIZED_PITCH_MINUS    = 26,
  54     INPUT_STABILIZED_YAW_PLUS       = 27,
  55     INPUT_STABILIZED_YAW_MINUS      = 28,
  56     INPUT_MAX                       = 29,
  57     INPUT_GVAR_0                    = 30,
  58     INPUT_GVAR_1                    = 31,
  59     INPUT_GVAR_2                    = 32,
  60     INPUT_GVAR_3                    = 33,
  61     INPUT_GVAR_4                    = 34,
  62     INPUT_GVAR_5                    = 35,
  63     INPUT_GVAR_6                    = 36,
  64     INPUT_GVAR_7                    = 37,
  65     INPUT_MIXER_TRANSITION          = 38,
  66     INPUT_HEADTRACKER_PAN           = 39,
  67     INPUT_HEADTRACKER_TILT          = 40,
  68     INPUT_HEADTRACKER_ROLL          = 41,
  69     INPUT_RC_CH17                   = 42,
  70     INPUT_RC_CH18                   = 43,
  71 #ifdef USE_24CHANNELS
  72     INPUT_RC_CH19                   = 44,
  73     INPUT_RC_CH20                   = 45,
  74     INPUT_RC_CH21                   = 46,
  75     INPUT_RC_CH22                   = 47,
  76     INPUT_RC_CH23                   = 48,
  77     INPUT_RC_CH24                   = 49,
  78 #endif
  79     INPUT_SOURCE_COUNT
  80 } inputSource_e;
  81
  82 // target servo channels
  83 typedef enum {
  84     SERVO_GIMBAL_PITCH = 0,
  85     SERVO_GIMBAL_ROLL = 1,
  86     SERVO_ELEVATOR = 2,
  87     SERVO_FLAPPERON_1 = 3,
  88     SERVO_FLAPPERON_2 = 4,
  89     SERVO_RUDDER = 5,
  90
  91     SERVO_BICOPTER_LEFT = 4,
  92     SERVO_BICOPTER_RIGHT = 5,
  93
  94     SERVO_DUALCOPTER_LEFT = 4,
  95     SERVO_DUALCOPTER_RIGHT = 5,
  96
  97     SERVO_SINGLECOPTER_1 = 3,
  98     SERVO_SINGLECOPTER_2 = 4,
  99     SERVO_SINGLECOPTER_3 = 5,
 100     SERVO_SINGLECOPTER_4 = 6,
 101
 102 } servoIndex_e; // FIXME rename to servoChannel_e
 103
 104 #define SERVO_PLANE_INDEX_MIN SERVO_ELEVATOR
 105 #define SERVO_PLANE_INDEX_MAX SERVO_RUDDER
 106
 107 #define SERVO_DUALCOPTER_INDEX_MIN SERVO_DUALCOPTER_LEFT
 108 #define SERVO_DUALCOPTER_INDEX_MAX SERVO_DUALCOPTER_RIGHT
 109
 110 #define SERVO_SINGLECOPTER_INDEX_MIN SERVO_SINGLECOPTER_1
 111 #define SERVO_SINGLECOPTER_INDEX_MAX SERVO_SINGLECOPTER_4
 112
 113 #define SERVO_FLAPPERONS_MIN SERVO_FLAPPERON_1
 114 #define SERVO_FLAPPERONS_MAX SERVO_FLAPPERON_2
 115
 116 #define FLAPERON_THROW_DEFAULT 200
 117 #define FLAPERON_THROW_MIN 50
 118 #define FLAPERON_THROW_MAX 450
 119
 120 typedef struct servoMixer_s {
 121     uint8_t targetChannel;                  // servo that receives the output of the rule
 122     uint8_t inputSource;                    // input channel for this rule
 123     int16_t rate;                           // range [-1000;+1000] ; can be used to adjust a rate 0-1000% and a direction
 124     uint8_t speed;                          // reduces the speed of the rule, 0=unlimited speed
 125 #ifdef USE_PROGRAMMING_FRAMEWORK
 126     int8_t conditionId;
 127 #endif
 128 } servoMixer_t;
 129
 130 #define MAX_SERVO_RULES (2 * MAX_SUPPORTED_SERVOS)
 131 #define MAX_SERVO_SPEED UINT8_MAX
 132 #define SERVO_OUTPUT_MAX 2500
 133 #define SERVO_OUTPUT_MIN 500
 134
 135 PG_DECLARE_ARRAY(servoMixer_t, MAX_SERVO_RULES, customServoMixers);
 136
 137 typedef struct servoParam_s {
 138     int16_t min;                            // servo min
 139     int16_t max;                            // servo max
 140     int16_t middle;                         // servo middle
 141     int8_t rate;                            // range [-125;+125] ; can be used to adjust a rate 0-125% and a direction
 142 } servoParam_t;
 143
 144 PG_DECLARE_ARRAY(servoParam_t, MAX_SUPPORTED_SERVOS, servoParams);
 145
 146 typedef struct servoConfig_s {
 147     // PWM values, in milliseconds, common range is 1000-2000 (1ms to 2ms)
 148     uint16_t servoCenterPulse;              // This is the value for servos when they should be in the middle. e.g. 1500.
 149     uint16_t servoPwmRate;                  // The update rate of servo outputs (50-498Hz)
 150     int16_t servo_lowpass_freq;             // lowpass servo filter frequency selection; 1/1000ths of loop freq
 151     uint16_t flaperon_throw_offset;
 152     uint8_t servo_protocol;                 // See servoProtocolType_e
 153     uint8_t tri_unarmed_servo;              // send tail servo correction pulses even when unarmed
 154     uint8_t servo_autotrim_rotation_limit;  // Max rotation for servo midpoints to be updated
 155     uint8_t servo_autotrim_iterm_threshold; // How much of the Iterm is carried over to the servo midpoints on each update
 156 } servoConfig_t;
 157
 158 PG_DECLARE(servoConfig_t, servoConfig);
 159
 160 typedef struct servoMetadata_s {
 161     float scaleMax;
 162     float scaleMin;
 163 } servoMetadata_t;
 164
 165 extern int16_t servo[MAX_SUPPORTED_SERVOS];
 166
 167 void Reset_servoMixers(servoMixer_t* instance);
 168 bool isServoOutputEnabled(void);
 169 void setServoOutputEnabled(bool flag);
 170 bool isMixerUsingServos(void);
 171 void writeServos(void);
 172 void loadCustomServoMixer(void);
 173 void servoMixer(float dT);
 174 void servoComputeScalingFactors(uint8_t servoIndex);
 175 void servosInit(void);
 176 int getServoCount(void);