mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-25 09:16:01 +03:00
147 lines
3.6 KiB
C
147 lines
3.6 KiB
C
/*
|
|
* 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
|
|
|
|
#include "drivers/io_types.h"
|
|
|
|
#if defined(USE_QUAD_MIXER_ONLY)
|
|
#define MAX_PWM_MOTORS 4
|
|
#define MAX_PWM_SERVOS 1
|
|
#define MAX_MOTORS 4
|
|
#define MAX_SERVOS 1
|
|
|
|
#elif defined(TARGET_MOTOR_COUNT)
|
|
#define MAX_PWM_MOTORS TARGET_MOTOR_COUNT
|
|
#define MAX_PWM_SERVOS 8
|
|
#define MAX_MOTORS TARGET_MOTOR_COUNT
|
|
#define MAX_SERVOS 8
|
|
|
|
#else
|
|
#define MAX_PWM_MOTORS 12
|
|
#define MAX_PWM_SERVOS 8
|
|
#define MAX_MOTORS 12
|
|
#define MAX_SERVOS 8
|
|
#endif
|
|
|
|
#define PWM_TIMER_MHZ 1
|
|
|
|
#define PULSE_1MS (1000) // 1ms pulse width
|
|
|
|
#define MAX_INPUTS 8
|
|
|
|
typedef struct rangefinderIOConfig_s {
|
|
ioTag_t triggerTag;
|
|
ioTag_t echoTag;
|
|
} rangefinderIOConfig_t;
|
|
|
|
typedef enum {
|
|
PLATFORM_MULTIROTOR = 0,
|
|
PLATFORM_AIRPLANE = 1,
|
|
PLATFORM_HELICOPTER = 2
|
|
} flyingPlatformType_e;
|
|
|
|
typedef struct drv_pwm_config_s {
|
|
int flyingPlatformType;
|
|
|
|
bool enablePWMOutput;
|
|
bool useParallelPWM;
|
|
bool usePPM;
|
|
bool useSerialRx;
|
|
bool useRSSIADC;
|
|
bool useCurrentMeterADC;
|
|
bool useUART2;
|
|
bool useUART3;
|
|
bool useUART6;
|
|
bool useVbat;
|
|
bool useFastPwm;
|
|
bool useSoftSerial;
|
|
bool useLEDStrip;
|
|
#ifdef USE_RANGEFINDER
|
|
bool useTriggerRangefinder;
|
|
#endif
|
|
#ifdef USE_SERVOS
|
|
bool useServoOutputs;
|
|
bool useChannelForwarding; // configure additional channels as servos
|
|
uint16_t servoPwmRate;
|
|
uint16_t servoCenterPulse;
|
|
#endif
|
|
uint8_t pwmProtocolType;
|
|
uint16_t motorPwmRate;
|
|
uint16_t idlePulse; // PWM value to use when initializing the driver. set this to either PULSE_1MS (regular pwm),
|
|
// some higher value (used by 3d mode), or 0, for brushed pwm drivers.
|
|
rangefinderIOConfig_t rangefinderIOConfig;
|
|
} drv_pwm_config_t;
|
|
|
|
typedef enum {
|
|
PWM_PF_NONE = 0,
|
|
PWM_PF_MOTOR = (1 << 0),
|
|
PWM_PF_SERVO = (1 << 1),
|
|
PWM_PF_MOTOR_MODE_BRUSHED = (1 << 2),
|
|
PWM_PF_OUTPUT_PROTOCOL_PWM = (1 << 3),
|
|
PWM_PF_OUTPUT_PROTOCOL_FASTPWM = (1 << 4),
|
|
PWM_PF_PPM = (1 << 5),
|
|
PWM_PF_PWM = (1 << 6)
|
|
} pwmPortFlags_e;
|
|
|
|
struct timerHardware_s;
|
|
typedef struct pwmPortConfiguration_s {
|
|
uint8_t index;
|
|
pwmPortFlags_e flags;
|
|
const struct timerHardware_s *timerHardware;
|
|
} pwmPortConfiguration_t;
|
|
|
|
typedef struct pwmIOConfiguration_s {
|
|
uint8_t servoCount;
|
|
uint8_t motorCount;
|
|
uint8_t ioCount;
|
|
uint8_t pwmInputCount;
|
|
uint8_t ppmInputCount;
|
|
pwmPortConfiguration_t ioConfigurations[USABLE_TIMER_CHANNEL_COUNT];
|
|
} pwmIOConfiguration_t;
|
|
|
|
// This indexes into the read-only hardware definition structure, timerHardware_t
|
|
enum {
|
|
PWM1 = 0,
|
|
PWM2,
|
|
PWM3,
|
|
PWM4,
|
|
PWM5,
|
|
PWM6,
|
|
PWM7,
|
|
PWM8,
|
|
PWM9,
|
|
PWM10,
|
|
PWM11,
|
|
PWM12,
|
|
PWM13,
|
|
PWM14,
|
|
PWM15,
|
|
PWM16,
|
|
PWM17,
|
|
PWM18,
|
|
PWM19,
|
|
PWM20
|
|
};
|
|
|
|
extern const uint16_t multiPPM[];
|
|
extern const uint16_t multiPWM[];
|
|
extern const uint16_t airPPM[];
|
|
extern const uint16_t airPWM[];
|
|
|
|
pwmIOConfiguration_t *pwmInit(drv_pwm_config_t *init);
|
|
pwmIOConfiguration_t *pwmGetOutputConfiguration(void);
|