mirror of
https://github.com/iNavFlight/inav.git
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147 lines
3.6 KiB
C
147 lines
3.6 KiB
C
/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "drivers/io_types.h"
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#if defined(USE_QUAD_MIXER_ONLY)
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#define MAX_PWM_MOTORS 4
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#define MAX_PWM_SERVOS 1
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#define MAX_MOTORS 4
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#define MAX_SERVOS 1
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#elif defined(TARGET_MOTOR_COUNT)
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#define MAX_PWM_MOTORS TARGET_MOTOR_COUNT
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#define MAX_PWM_SERVOS 8
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#define MAX_MOTORS TARGET_MOTOR_COUNT
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#define MAX_SERVOS 8
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#else
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#define MAX_PWM_MOTORS 12
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#define MAX_PWM_SERVOS 8
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#define MAX_MOTORS 12
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#define MAX_SERVOS 8
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#endif
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#define PWM_TIMER_MHZ 1
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#define PULSE_1MS (1000) // 1ms pulse width
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#define MAX_INPUTS 8
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typedef struct rangefinderIOConfig_s {
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ioTag_t triggerTag;
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ioTag_t echoTag;
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} rangefinderIOConfig_t;
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typedef enum {
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PLATFORM_MULTIROTOR = 0,
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PLATFORM_AIRPLANE = 1,
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PLATFORM_HELICOPTER = 2
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} flyingPlatformType_e;
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typedef struct drv_pwm_config_s {
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int flyingPlatformType;
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bool enablePWMOutput;
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bool useParallelPWM;
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bool usePPM;
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bool useSerialRx;
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bool useRSSIADC;
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bool useCurrentMeterADC;
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bool useUART2;
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bool useUART3;
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bool useUART6;
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bool useVbat;
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bool useFastPwm;
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bool useSoftSerial;
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bool useLEDStrip;
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#ifdef USE_RANGEFINDER
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bool useTriggerRangefinder;
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#endif
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#ifdef USE_SERVOS
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bool useServoOutputs;
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bool useChannelForwarding; // configure additional channels as servos
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uint16_t servoPwmRate;
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uint16_t servoCenterPulse;
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#endif
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uint8_t pwmProtocolType;
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uint16_t motorPwmRate;
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uint16_t idlePulse; // PWM value to use when initializing the driver. set this to either PULSE_1MS (regular pwm),
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// some higher value (used by 3d mode), or 0, for brushed pwm drivers.
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rangefinderIOConfig_t rangefinderIOConfig;
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} drv_pwm_config_t;
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typedef enum {
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PWM_PF_NONE = 0,
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PWM_PF_MOTOR = (1 << 0),
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PWM_PF_SERVO = (1 << 1),
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PWM_PF_MOTOR_MODE_BRUSHED = (1 << 2),
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PWM_PF_OUTPUT_PROTOCOL_PWM = (1 << 3),
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PWM_PF_OUTPUT_PROTOCOL_FASTPWM = (1 << 4),
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PWM_PF_PPM = (1 << 5),
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PWM_PF_PWM = (1 << 6)
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} pwmPortFlags_e;
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struct timerHardware_s;
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typedef struct pwmPortConfiguration_s {
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uint8_t index;
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pwmPortFlags_e flags;
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const struct timerHardware_s *timerHardware;
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} pwmPortConfiguration_t;
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typedef struct pwmIOConfiguration_s {
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uint8_t servoCount;
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uint8_t motorCount;
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uint8_t ioCount;
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uint8_t pwmInputCount;
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uint8_t ppmInputCount;
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pwmPortConfiguration_t ioConfigurations[USABLE_TIMER_CHANNEL_COUNT];
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} pwmIOConfiguration_t;
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// This indexes into the read-only hardware definition structure, timerHardware_t
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enum {
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PWM1 = 0,
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PWM2,
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PWM3,
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PWM4,
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PWM5,
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PWM6,
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PWM7,
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PWM8,
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PWM9,
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PWM10,
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PWM11,
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PWM12,
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PWM13,
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PWM14,
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PWM15,
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PWM16,
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PWM17,
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PWM18,
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PWM19,
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PWM20
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};
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extern const uint16_t multiPPM[];
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extern const uint16_t multiPWM[];
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extern const uint16_t airPPM[];
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extern const uint16_t airPWM[];
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pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init);
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pwmIOConfiguration_t *pwmGetOutputConfiguration(void);
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