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 #define MAX_SUPPORTED_SERVOS 8
  21
  22 // These must be consecutive, see 'reversedSources'
  23 enum {
  24     INPUT_STABILIZED_ROLL = 0,
  25     INPUT_STABILIZED_PITCH,
  26     INPUT_STABILIZED_YAW,
  27     INPUT_STABILIZED_THROTTLE,
  28     INPUT_RC_ROLL,
  29     INPUT_RC_PITCH,
  30     INPUT_RC_YAW,
  31     INPUT_RC_THROTTLE,
  32     INPUT_RC_AUX1,
  33     INPUT_RC_AUX2,
  34     INPUT_RC_AUX3,
  35     INPUT_RC_AUX4,
  36     INPUT_GIMBAL_PITCH,
  37     INPUT_GIMBAL_ROLL,
  38     INPUT_SOURCE_COUNT
  39 } inputSource_e;
  40
  41 // target servo channels
  42 typedef enum {
  43     SERVO_GIMBAL_PITCH = 0,
  44     SERVO_GIMBAL_ROLL = 1,
  45     SERVO_FLAPS = 2,
  46     SERVO_FLAPPERON_1 = 3,
  47     SERVO_FLAPPERON_2 = 4,
  48     SERVO_RUDDER = 5,
  49     SERVO_ELEVATOR = 6,
  50     SERVO_THROTTLE = 7, // for internal combustion (IC) planes
  51
  52     SERVO_BICOPTER_LEFT = 4,
  53     SERVO_BICOPTER_RIGHT = 5,
  54
  55     SERVO_DUALCOPTER_LEFT = 4,
  56     SERVO_DUALCOPTER_RIGHT = 5,
  57
  58     SERVO_SINGLECOPTER_1 = 3,
  59     SERVO_SINGLECOPTER_2 = 4,
  60     SERVO_SINGLECOPTER_3 = 5,
  61     SERVO_SINGLECOPTER_4 = 6
  62 } servoIndex_e; // FIXME rename to servoChannel_e
  63
  64 #define SERVO_PLANE_INDEX_MIN SERVO_FLAPS
  65 #define SERVO_PLANE_INDEX_MAX SERVO_THROTTLE
  66
  67 #define SERVO_DUALCOPTER_INDEX_MIN SERVO_DUALCOPTER_LEFT
  68 #define SERVO_DUALCOPTER_INDEX_MAX SERVO_DUALCOPTER_RIGHT
  69
  70 #define SERVO_SINGLECOPTER_INDEX_MIN SERVO_SINGLECOPTER_1
  71 #define SERVO_SINGLECOPTER_INDEX_MAX SERVO_SINGLECOPTER_4
  72
  73 #define SERVO_FLAPPERONS_MIN SERVO_FLAPPERON_1
  74 #define SERVO_FLAPPERONS_MAX SERVO_FLAPPERON_2
  75
  76 typedef struct servoMixer_s {
  77     uint8_t targetChannel;                  // servo that receives the output of the rule
  78     uint8_t inputSource;                    // input channel for this rule
  79     int8_t rate;                            // range [-125;+125] ; can be used to adjust a rate 0-125% and a direction
  80     uint8_t speed;                          // reduces the speed of the rule, 0=unlimited speed
  81     int8_t min;                             // lower bound of rule range [0;100]% of servo max-min
  82     int8_t max;                             // lower bound of rule range [0;100]% of servo max-min
  83     uint8_t box;                            // active rule if box is enabled, range [0;3], 0=no box, 1=BOXSERVO1, 2=BOXSERVO2, 3=BOXSERVO3
  84 } servoMixer_t;
  85
  86 #define MAX_SERVO_RULES (2 * MAX_SUPPORTED_SERVOS)
  87 #define MAX_SERVO_SPEED UINT8_MAX
  88 #define MAX_SERVO_BOXES 3
  89
  90 // Custom mixer configuration
  91 typedef struct mixerRules_s {
  92     uint8_t servoRuleCount;
  93     const servoMixer_t *rule;
  94 } mixerRules_t;
  95
  96 typedef struct servoParam_s {
  97     int16_t min;                            // servo min
  98     int16_t max;                            // servo max
  99     int16_t middle;                         // servo middle
 100     int8_t rate;                            // range [-125;+125] ; can be used to adjust a rate 0-125% and a direction
 101     uint8_t angleAtMin;                     // range [0;180] the measured angle in degrees from the middle when the servo is at the 'min' value.
 102     uint8_t angleAtMax;                     // range [0;180] the measured angle in degrees from the middle when the servo is at the 'max' value.
 103     int8_t forwardFromChannel;              // RX channel index, 0 based.  See CHANNEL_FORWARDING_DISABLED
 104     uint32_t reversedSources;               // the direction of servo movement for each input source of the servo mixer, bit set=inverted
 105 } __attribute__ ((__packed__)) servoParam_t;
 106
 107 typedef struct servoMixerConfig_s{
 108     uint8_t tri_unarmed_servo;              // send tail servo correction pulses even when unarmed
 109     uint16_t servo_lowpass_freq;             // lowpass servo filter frequency selection; 1/1000ths of loop freq
 110     int8_t servo_lowpass_enable;            // enable/disable lowpass filter
 111 } servoMixerConfig_t;
 112
 113 typedef struct servoProfile_s {
 114     servoParam_t servoConf[MAX_SUPPORTED_SERVOS];
 115 } servoProfile_t;
 116
 117 extern int16_t servo[MAX_SUPPORTED_SERVOS];
 118
 119 void servoTable(void);
 120 bool isMixerUsingServos(void);
 121 void writeServos(void);
 122 void filterServos(void);
 123
 124 void servoMixerInit(servoMixer_t *customServoMixers);
 125 struct gimbalConfig_s;
 126 void servoUseConfigs(servoMixerConfig_t *servoConfigToUse, servoParam_t *servoParamsToUse, struct gimbalConfig_s *gimbalConfigToUse);
 127 void servoMixerLoadMix(int index, servoMixer_t *customServoMixers);
 128 void loadCustomServoMixer(void);
 129 void servoConfigureOutput(void);
 130 int servoDirection(int servoIndex, int fromChannel);
 131