src/main/rx/rx.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 STICK_CHANNEL_COUNT 4
  21
  22 #define PWM_RANGE_ZERO 0 // FIXME should all usages of this be changed to use PWM_RANGE_MIN?
  23 #define PWM_RANGE_MIN 1000
  24 #define PWM_RANGE_MAX 2000
  25 #define PWM_RANGE_MIDDLE (PWM_RANGE_MIN + ((PWM_RANGE_MAX - PWM_RANGE_MIN) / 2))
  26
  27 #define PWM_PULSE_MIN   750       // minimum PWM pulse width which is considered valid
  28 #define PWM_PULSE_MAX   2250      // maximum PWM pulse width which is considered valid
  29
  30 #define RXFAIL_STEP_TO_CHANNEL_VALUE(step) (PWM_PULSE_MIN + 25 * step)
  31 #define CHANNEL_VALUE_TO_RXFAIL_STEP(channelValue) ((constrain(channelValue, PWM_PULSE_MIN, PWM_PULSE_MAX) - PWM_PULSE_MIN) / 25)
  32 #define MAX_RXFAIL_RANGE_STEP ((PWM_PULSE_MAX - PWM_PULSE_MIN) / 25)
  33
  34 #define DEFAULT_SERVO_MIN 1000
  35 #define DEFAULT_SERVO_MIDDLE 1500
  36 #define DEFAULT_SERVO_MAX 2000
  37 #define DEFAULT_SERVO_MIN_ANGLE 90
  38 #define DEFAULT_SERVO_MAX_ANGLE 90
  39
  40 typedef enum {
  41     SERIAL_RX_FRAME_PENDING = 0,
  42     SERIAL_RX_FRAME_COMPLETE = (1 << 0),
  43     SERIAL_RX_FRAME_FAILSAFE = (1 << 1)
  44 } serialrxFrameState_t;
  45
  46 typedef enum {
  47     SERIALRX_SPEKTRUM1024 = 0,
  48     SERIALRX_SPEKTRUM2048 = 1,
  49     SERIALRX_SBUS = 2,
  50     SERIALRX_SUMD = 3,
  51     SERIALRX_SUMH = 4,
  52     SERIALRX_XBUS_MODE_B = 5,
  53     SERIALRX_XBUS_MODE_B_RJ01 = 6,
  54     SERIALRX_IBUS = 7,
  55     SERIALRX_JETIEXBUS = 8,
  56     SERIALRX_PROVIDER_MAX = SERIALRX_JETIEXBUS
  57 } SerialRXType;
  58
  59 #define SERIALRX_PROVIDER_COUNT (SERIALRX_PROVIDER_MAX + 1)
  60
  61 #define MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT 12
  62 #define MAX_SUPPORTED_RC_PARALLEL_PWM_CHANNEL_COUNT 8
  63 #define MAX_SUPPORTED_RC_CHANNEL_COUNT (18)
  64
  65 #define NON_AUX_CHANNEL_COUNT 4
  66 #define MAX_AUX_CHANNEL_COUNT (MAX_SUPPORTED_RC_CHANNEL_COUNT - NON_AUX_CHANNEL_COUNT)
  67
  68
  69
  70 #if MAX_SUPPORTED_RC_PARALLEL_PWM_CHANNEL_COUNT > MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT
  71 #define MAX_SUPPORTED_RX_PARALLEL_PWM_OR_PPM_CHANNEL_COUNT MAX_SUPPORTED_RC_PARALLEL_PWM_CHANNEL_COUNT
  72 #else
  73 #define MAX_SUPPORTED_RX_PARALLEL_PWM_OR_PPM_CHANNEL_COUNT MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT
  74 #endif
  75
  76 extern const char rcChannelLetters[];
  77
  78 extern int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];       // interval [1000;2000]
  79
  80 #define MAX_MAPPABLE_RX_INPUTS 8
  81
  82 #define RSSI_SCALE_MIN 1
  83 #define RSSI_SCALE_MAX 255
  84 #define RSSI_SCALE_DEFAULT 30
  85
  86 typedef enum {
  87     RX_FAILSAFE_MODE_AUTO = 0,
  88     RX_FAILSAFE_MODE_HOLD,
  89     RX_FAILSAFE_MODE_SET,
  90     RX_FAILSAFE_MODE_INVALID,
  91 } rxFailsafeChannelMode_e;
  92
  93 #define RX_FAILSAFE_MODE_COUNT 3
  94
  95 typedef enum {
  96     RX_FAILSAFE_TYPE_FLIGHT = 0,
  97     RX_FAILSAFE_TYPE_AUX,
  98 } rxFailsafeChannelType_e;
  99
 100 #define RX_FAILSAFE_TYPE_COUNT 2
 101
 102 typedef struct rxFailsafeChannelConfiguration_s {
 103     uint8_t mode; // See rxFailsafeChannelMode_e
 104     uint8_t step;
 105 } rxFailsafeChannelConfiguration_t;
 106
 107 typedef struct rxChannelRangeConfiguration_s {
 108     uint16_t min;
 109     uint16_t max;
 110 } rxChannelRangeConfiguration_t;
 111
 112 typedef struct rxConfig_s {
 113     uint8_t rcmap[MAX_MAPPABLE_RX_INPUTS];  // mapping of radio channels to internal RPYTA+ order
 114     uint8_t serialrx_provider;              // type of UART-based receiver (0 = spek 10, 1 = spek 11, 2 = sbus). Must be enabled by FEATURE_RX_SERIAL first.
 115     uint8_t sbus_inversion;                 // default sbus (Futaba, FrSKY) is inverted. Support for uninverted OpenLRS (and modified FrSKY) receivers.
 116     uint8_t spektrum_sat_bind;              // number of bind pulses for Spektrum satellite receivers
 117     uint8_t spektrum_sat_bind_autoreset;    // whenever we will reset (exit) binding mode after hard reboot
 118     uint8_t rssi_channel;
 119     uint8_t rssi_scale;
 120     uint8_t rssi_ppm_invert;
 121     uint16_t midrc;                         // Some radios have not a neutral point centered on 1500. can be changed here
 122     uint16_t mincheck;                      // minimum rc end
 123     uint16_t maxcheck;                      // maximum rc end
 124     uint8_t rcSmoothing;
 125     uint8_t fpvCamAngleDegrees;             // Camera angle to be scaled into rc commands
 126     uint8_t max_aux_channel;
 127     uint16_t airModeActivateThreshold;      // Throttle setpoint where airmode gets activated
 128
 129     uint16_t rx_min_usec;
 130     uint16_t rx_max_usec;
 131     rxFailsafeChannelConfiguration_t failsafe_channel_configurations[MAX_SUPPORTED_RC_CHANNEL_COUNT];
 132
 133     rxChannelRangeConfiguration_t channelRanges[NON_AUX_CHANNEL_COUNT];
 134 } rxConfig_t;
 135
 136 #define REMAPPABLE_CHANNEL_COUNT (sizeof(((rxConfig_t *)0)->rcmap) / sizeof(((rxConfig_t *)0)->rcmap[0]))
 137
 138 typedef struct rxRuntimeConfig_s {
 139     uint8_t channelCount;                  // number of rc channels as reported by current input driver
 140     uint8_t auxChannelCount;
 141 } rxRuntimeConfig_t;
 142
 143 extern rxRuntimeConfig_t rxRuntimeConfig;
 144
 145 void useRxConfig(rxConfig_t *rxConfigToUse);
 146
 147 typedef uint16_t (*rcReadRawDataPtr)(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan);        // used by receiver driver to return channel data
 148
 149 void updateRx(uint32_t currentTime);
 150 bool rxIsReceivingSignal(void);
 151 bool rxAreFlightChannelsValid(void);
 152 bool shouldProcessRx(uint32_t currentTime);
 153 void calculateRxChannelsAndUpdateFailsafe(uint32_t currentTime);
 154
 155 void parseRcChannels(const char *input, rxConfig_t *rxConfig);
 156 uint8_t serialRxFrameStatus(rxConfig_t *rxConfig);
 157
 158 void updateRSSI(uint32_t currentTime);
 159 void resetAllRxChannelRangeConfigurations(rxChannelRangeConfiguration_t *rxChannelRangeConfiguration);
 160
 161 void initRxRefreshRate(uint16_t *rxRefreshRatePtr);
 162 void suspendRxSignal(void);
 163 void resumeRxSignal(void);
 164
 165 void initRxRefreshRate(uint16_t *rxRefreshRatePtr);