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 16
  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_SOURCE_COUNT
  67 } inputSource_e;
  68
  69 // target servo channels
  70 typedef enum {
  71     SERVO_GIMBAL_PITCH = 0,
  72     SERVO_GIMBAL_ROLL = 1,
  73     SERVO_ELEVATOR = 2,
  74     SERVO_FLAPPERON_1 = 3,
  75     SERVO_FLAPPERON_2 = 4,
  76     SERVO_RUDDER = 5,
  77
  78     SERVO_BICOPTER_LEFT = 4,
  79     SERVO_BICOPTER_RIGHT = 5,
  80
  81     SERVO_DUALCOPTER_LEFT = 4,
  82     SERVO_DUALCOPTER_RIGHT = 5,
  83
  84     SERVO_SINGLECOPTER_1 = 3,
  85     SERVO_SINGLECOPTER_2 = 4,
  86     SERVO_SINGLECOPTER_3 = 5,
  87     SERVO_SINGLECOPTER_4 = 6,
  88
  89 } servoIndex_e; // FIXME rename to servoChannel_e
  90
  91 #define SERVO_PLANE_INDEX_MIN SERVO_ELEVATOR
  92 #define SERVO_PLANE_INDEX_MAX SERVO_RUDDER
  93
  94 #define SERVO_DUALCOPTER_INDEX_MIN SERVO_DUALCOPTER_LEFT
  95 #define SERVO_DUALCOPTER_INDEX_MAX SERVO_DUALCOPTER_RIGHT
  96
  97 #define SERVO_SINGLECOPTER_INDEX_MIN SERVO_SINGLECOPTER_1
  98 #define SERVO_SINGLECOPTER_INDEX_MAX SERVO_SINGLECOPTER_4
  99
 100 #define SERVO_FLAPPERONS_MIN SERVO_FLAPPERON_1
 101 #define SERVO_FLAPPERONS_MAX SERVO_FLAPPERON_2
 102
 103 #define FLAPERON_THROW_DEFAULT 200
 104 #define FLAPERON_THROW_MIN 50
 105 #define FLAPERON_THROW_MAX 450
 106
 107 typedef struct servoMixer_s {
 108     uint8_t targetChannel;                  // servo that receives the output of the rule
 109     uint8_t inputSource;                    // input channel for this rule
 110     int16_t rate;                           // range [-1000;+1000] ; can be used to adjust a rate 0-1000% and a direction
 111     uint8_t speed;                          // reduces the speed of the rule, 0=unlimited speed
 112 #ifdef USE_PROGRAMMING_FRAMEWORK
 113     int8_t conditionId;
 114 #endif
 115 } servoMixer_t;
 116
 117 #define MAX_SERVO_RULES (2 * MAX_SUPPORTED_SERVOS)
 118 #define MAX_SERVO_SPEED UINT8_MAX
 119 #define SERVO_OUTPUT_MAX 2500
 120 #define SERVO_OUTPUT_MIN 500
 121
 122 PG_DECLARE_ARRAY(servoMixer_t, MAX_SERVO_RULES, customServoMixers);
 123
 124 typedef struct servoParam_s {
 125     int16_t min;                            // servo min
 126     int16_t max;                            // servo max
 127     int16_t middle;                         // servo middle
 128     int8_t rate;                            // range [-125;+125] ; can be used to adjust a rate 0-125% and a direction
 129 } servoParam_t;
 130
 131 PG_DECLARE_ARRAY(servoParam_t, MAX_SUPPORTED_SERVOS, servoParams);
 132
 133 typedef struct servoConfig_s {
 134     // PWM values, in milliseconds, common range is 1000-2000 (1ms to 2ms)
 135     uint16_t servoCenterPulse;              // This is the value for servos when they should be in the middle. e.g. 1500.
 136     uint16_t servoPwmRate;                  // The update rate of servo outputs (50-498Hz)
 137     int16_t servo_lowpass_freq;             // lowpass servo filter frequency selection; 1/1000ths of loop freq
 138     uint16_t flaperon_throw_offset;
 139     uint8_t servo_protocol;                 // See servoProtocolType_e
 140     uint8_t tri_unarmed_servo;              // send tail servo correction pulses even when unarmed
 141     uint8_t servo_autotrim_rotation_limit;  // Max rotation for servo midpoints to be updated
 142     uint8_t servo_autotrim_iterm_threshold; // How much of the Iterm is carried over to the servo midpoints on each update
 143 } servoConfig_t;
 144
 145 PG_DECLARE(servoConfig_t, servoConfig);
 146
 147 typedef struct servoMetadata_s {
 148     float scaleMax;
 149     float scaleMin;
 150 } servoMetadata_t;
 151
 152 extern int16_t servo[MAX_SUPPORTED_SERVOS];
 153
 154 void Reset_servoMixers(servoMixer_t* instance);
 155 bool isServoOutputEnabled(void);
 156 void setServoOutputEnabled(bool flag);
 157 bool isMixerUsingServos(void);
 158 void writeServos(void);
 159 void loadCustomServoMixer(void);
 160 void servoMixer(float dT);
 161 void servoComputeScalingFactors(uint8_t servoIndex);
 162 void servosInit(void);
 163 int getServoCount(void);