Split mixer and servo code

src/main/flight/servos.h

@@ -0,0 +1,129 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define MAX_SUPPORTED_SERVOS 8
+
+// These must be consecutive, see 'reversedSources'
+enum {
+    INPUT_STABILIZED_ROLL = 0,
+    INPUT_STABILIZED_PITCH,
+    INPUT_STABILIZED_YAW,
+    INPUT_STABILIZED_THROTTLE,
+    INPUT_RC_ROLL,
+    INPUT_RC_PITCH,
+    INPUT_RC_YAW,
+    INPUT_RC_THROTTLE,
+    INPUT_RC_AUX1,
+    INPUT_RC_AUX2,
+    INPUT_RC_AUX3,
+    INPUT_RC_AUX4,
+    INPUT_GIMBAL_PITCH,
+    INPUT_GIMBAL_ROLL,
+
+    INPUT_SOURCE_COUNT
+} inputSource_e;
+
+// target servo channels
+typedef enum {
+    SERVO_GIMBAL_PITCH = 0,
+    SERVO_GIMBAL_ROLL = 1,
+    SERVO_FLAPS = 2,
+    SERVO_FLAPPERON_1 = 3,
+    SERVO_FLAPPERON_2 = 4,
+    SERVO_RUDDER = 5,
+    SERVO_ELEVATOR = 6,
+    SERVO_THROTTLE = 7, // for internal combustion (IC) planes
+
+    SERVO_BICOPTER_LEFT = 4,
+    SERVO_BICOPTER_RIGHT = 5,
+
+    SERVO_DUALCOPTER_LEFT = 4,
+    SERVO_DUALCOPTER_RIGHT = 5,
+
+    SERVO_SINGLECOPTER_1 = 3,
+    SERVO_SINGLECOPTER_2 = 4,
+    SERVO_SINGLECOPTER_3 = 5,
+    SERVO_SINGLECOPTER_4 = 6,
+
+} servoIndex_e; // FIXME rename to servoChannel_e
+
+#define SERVO_PLANE_INDEX_MIN SERVO_FLAPS
+#define SERVO_PLANE_INDEX_MAX SERVO_THROTTLE
+
+#define SERVO_DUALCOPTER_INDEX_MIN SERVO_DUALCOPTER_LEFT
+#define SERVO_DUALCOPTER_INDEX_MAX SERVO_DUALCOPTER_RIGHT
+
+#define SERVO_SINGLECOPTER_INDEX_MIN SERVO_SINGLECOPTER_1
+#define SERVO_SINGLECOPTER_INDEX_MAX SERVO_SINGLECOPTER_4
+
+#define SERVO_FLAPPERONS_MIN SERVO_FLAPPERON_1
+#define SERVO_FLAPPERONS_MAX SERVO_FLAPPERON_2
+
+typedef struct servoMixer_s {
+    uint8_t targetChannel;                  // servo that receives the output of the rule
+    uint8_t inputSource;                    // input channel for this rule
+    int8_t rate;                            // range [-125;+125] ; can be used to adjust a rate 0-125% and a direction
+    uint8_t speed;                          // reduces the speed of the rule, 0=unlimited speed
+    int8_t min;                             // lower bound of rule range [0;100]% of servo max-min
+    int8_t max;                             // lower bound of rule range [0;100]% of servo max-min
+    uint8_t box;                            // active rule if box is enabled, range [0;3], 0=no box, 1=BOXSERVO1, 2=BOXSERVO2, 3=BOXSERVO3
+} servoMixer_t;
+
+#define MAX_SERVO_RULES (2 * MAX_SUPPORTED_SERVOS)
+#define MAX_SERVO_SPEED UINT8_MAX
+#define MAX_SERVO_BOXES 3
+
+// Custom mixer configuration
+typedef struct mixerRules_s {
+    uint8_t servoRuleCount;
+    const servoMixer_t *rule;
+} mixerRules_t;
+
+typedef struct servoParam_s {
+    int16_t min;                            // servo min
+    int16_t max;                            // servo max
+    int16_t middle;                         // servo middle
+    int8_t rate;                            // range [-125;+125] ; can be used to adjust a rate 0-125% and a direction
+    uint8_t angleAtMin;                     // range [0;180] the measured angle in degrees from the middle when the servo is at the 'min' value.
+    uint8_t angleAtMax;                     // range [0;180] the measured angle in degrees from the middle when the servo is at the 'max' value.
+    int8_t forwardFromChannel;              // RX channel index, 0 based.  See CHANNEL_FORWARDING_DISABLED
+    uint32_t reversedSources;               // the direction of servo movement for each input source of the servo mixer, bit set=inverted
+} __attribute__ ((__packed__)) servoParam_t;
+
+typedef struct servoMixerConfig_s{
+    uint8_t tri_unarmed_servo;              // send tail servo correction pulses even when unarmed
+    uint16_t servo_lowpass_freq;             // lowpass servo filter frequency selection; 1/1000ths of loop freq
+    int8_t servo_lowpass_enable;            // enable/disable lowpass filter
+} servoMixerConfig_t;
+
+extern int16_t servo[MAX_SUPPORTED_SERVOS];
+
+void servoTable(void);
+bool isMixerUsingServos(void);
+void writeServos(void);
+void filterServos(void);
+
+void servoMixerInit(servoMixer_t *customServoMixers);
+struct gimbalConfig_s;
+void servoUseConfigs(servoMixerConfig_t *servoConfigToUse, servoParam_t *servoParamsToUse, struct gimbalConfig_s *gimbalConfigToUse);
+void servoMixerLoadMix(int index, servoMixer_t *customServoMixers);
+void loadCustomServoMixer(void);
+void servoConfigureOutput(void);
+int servoDirection(int servoIndex, int fromChannel);
+