src/main/io/gimbal_serial.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 <stdint.h>
  21
  22 #include "platform.h"
  23
  24 #include "common/time.h"
  25 #include "drivers/gimbal_common.h"
  26 #include "drivers/headtracker_common.h"
  27
  28 #ifdef __cplusplus
  29 extern "C" {
  30 #endif
  31
  32 #ifdef USE_SERIAL_GIMBAL
  33
  34
  35 #define HTKATTITUDE_SYNC0  0xA5
  36 #define HTKATTITUDE_SYNC1  0x5A
  37 typedef struct gimbalHtkAttitudePkt_s
  38 {
  39         uint8_t  sync[2];       //data synchronization 0xA5, 0x5A
  40         uint8_t mode:3;        //Gimbal Mode [0~7] [Only 0 1 2 modes are supported for the time being]
  41         int16_t  sensibility:5; // Stabilization sensibility [-16~15]
  42         uint8_t reserved:4;    //hold on to one's reserve
  43         int32_t  roll:12;       //Roll angle [-2048~2047] => [-180~180]
  44         int32_t  tilt:12;       //Pich angle [-2048~2047] => [-180~180]
  45         int32_t  pan:12;        //Yaw angle [-2048~2047] => [-180~180]
  46         uint8_t  crch;          //Data validation H
  47         uint8_t  crcl;          //Data validation L
  48 } __attribute__((packed)) gimbalHtkAttitudePkt_t;
  49
  50
  51 #define HEADTRACKER_PAYLOAD_SIZE (sizeof(gimbalHtkAttitudePkt_t) - 4)
  52
  53 typedef enum {
  54     WAITING_HDR1,
  55     WAITING_HDR2,
  56     WAITING_PAYLOAD,
  57     WAITING_CRCH,
  58     WAITING_CRCL,
  59 } gimbalHeadtrackerState_e;
  60
  61 typedef struct gimbalSerialHtrkState_s {
  62     uint8_t  payloadSize;
  63     gimbalHeadtrackerState_e state;
  64     gimbalHtkAttitudePkt_t attitude;
  65 } gimbalSerialHtrkState_t;
  66
  67 typedef struct gimbalSerialConfig_s {
  68     bool singleUart;
  69 } gimbalSerialConfig_t;
  70
  71 PG_DECLARE(gimbalSerialConfig_t, gimbalSerialConfig);
  72
  73 int16_t gimbal_scale12(int16_t inputMin, int16_t inputMax, int16_t value);
  74
  75 int16_t gimbal2pwm(int16_t value);
  76
  77 bool gimbalSerialInit(void);
  78 bool gimbalSerialDetect(void);
  79 void gimbalSerialProcess(gimbalDevice_t *gimbalDevice, timeUs_t currentTime);
  80 bool gimbalSerialIsReady(const gimbalDevice_t *gimbalDevice);
  81 gimbalDevType_e gimbalSerialGetDeviceType(const gimbalDevice_t *gimbalDevice);
  82 bool gimbalSerialHasHeadTracker(const gimbalDevice_t *gimbalDevice);
  83 void gimbalSerialHeadTrackerReceive(uint16_t c, void *data);
  84
  85
  86 #if (defined(USE_HEADTRACKER) && defined(USE_HEADTRACKER_SERIAL))
  87 bool gimbalSerialHeadTrackerInit(void);
  88 bool gimbalSerialHeadTrackerDetect(void);
  89 void headtrackerSerialProcess(headTrackerDevice_t *headTrackerDevice, timeUs_t currentTimeUs);
  90 headTrackerDevType_e headtrackerSerialGetDeviceType(const headTrackerDevice_t *headTrackerDevice);
  91 bool headTrackerSerialIsReady(const headTrackerDevice_t *headTrackerDevice);
  92 bool headTrackerSerialIsValid(const headTrackerDevice_t *headTrackerDevice);
  93 int headTrackerSerialGetPanPWM(const headTrackerDevice_t *headTrackerDevice);
  94 int headTrackerSerialGetTiltPWM(const headTrackerDevice_t *headTrackerDevice);
  95 int headTrackerSerialGetRollPWM(const headTrackerDevice_t *headTrackerDevice);
  96 #endif
  97
  98 #endif
  99
 100 #ifdef __cplusplus
 101 }
 102 #endif