src/main/drivers/pwm_mapping.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 "drivers/io_types.h"
  21 #include "flight/mixer.h"
  22 #include "flight/servos.h"
  23
  24 #if defined(TARGET_MOTOR_COUNT)
  25 #define MAX_MOTORS  TARGET_MOTOR_COUNT
  26 #define MAX_SERVOS  16
  27
  28 #else
  29 #define MAX_MOTORS  12
  30 #define MAX_SERVOS  16
  31 #endif
  32
  33 #define PWM_TIMER_HZ    1000000
  34
  35 #define PULSE_1MS   (1000)      // 1ms pulse width
  36
  37 #define MAX_INPUTS  8
  38
  39 typedef enum {
  40     PWM_TYPE_STANDARD = 0,
  41     PWM_TYPE_ONESHOT125,
  42     PWM_TYPE_MULTISHOT,
  43     PWM_TYPE_BRUSHED,
  44     PWM_TYPE_DSHOT150,
  45     PWM_TYPE_DSHOT300,
  46     PWM_TYPE_DSHOT600,
  47 } motorPwmProtocolTypes_e;
  48
  49 typedef enum {
  50     SERVO_TYPE_PWM = 0,
  51     SERVO_TYPE_SBUS,
  52     SERVO_TYPE_SBUS_PWM
  53 } servoProtocolType_e;
  54
  55 typedef enum {
  56     PWM_INIT_ERROR_NONE = 0,
  57     PWM_INIT_ERROR_TOO_MANY_MOTORS,
  58     PWM_INIT_ERROR_TOO_MANY_SERVOS,
  59     PWM_INIT_ERROR_NOT_ENOUGH_MOTOR_OUTPUTS,
  60     PWM_INIT_ERROR_NOT_ENOUGH_SERVO_OUTPUTS,
  61     PWM_INIT_ERROR_TIMER_INIT_FAILED,
  62 } pwmInitError_e;
  63
  64 typedef struct rangefinderIOConfig_s {
  65     ioTag_t triggerTag;
  66     ioTag_t echoTag;
  67 } rangefinderIOConfig_t;
  68
  69 typedef struct {
  70     bool usesHwTimer;
  71     bool isDSHOT;
  72 } motorProtocolProperties_t;
  73
  74 bool pwmMotorAndServoInit(void);
  75 const motorProtocolProperties_t * getMotorProtocolProperties(motorPwmProtocolTypes_e proto);
  76 pwmInitError_e getPwmInitError(void);
  77 const char * getPwmInitErrorMessage(void);