Driver for CADDX camera GM3 gimbal (betaflight#13926)

* Driver for CADDX camera GM3 gimbal * Update src/main/cli/settings.c Fix copy-paste error on variable name. Co-authored-by: Petr Ledvina <[email protected]> * Update src/main/io/gimbal_control.c Co-authored-by: Petr Ledvina <[email protected]> * Update src/main/io/gimbal_control.c Co-authored-by: Petr Ledvina <[email protected]> * Update src/main/io/gimbal_control.c Co-authored-by: Petr Ledvina <[email protected]> * Only forward gimbal data with good CRC --------- Co-authored-by: Petr Ledvina <[email protected]>
HThuren · Nov 12, 2024 · 0de6278 · 0de6278
1 parent b70e98e
commit 0de6278
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Showing 14 changed files with 502 additions and 1 deletion.
diff --git a/mk/source.mk b/mk/source.mk
@@ -12,6 +12,7 @@ PG_SRC = \
             pg/displayport_profiles.c \
             pg/dyn_notch.c \
             pg/flash.c \
+            pg/gimbal.c \
             pg/gps.c \
             pg/gps_lap_timer.c \
             pg/gps_rescue.c \
@@ -248,6 +249,7 @@ COMMON_SRC = \
             io/displayport_crsf.c \
             io/displayport_hott.c \
             io/frsky_osd.c \
+            io/gimbal_control.c \
             io/rcdevice_cam.c \
             io/rcdevice.c \
             io/gps.c \

diff --git a/src/main/build/debug.c b/src/main/build/debug.c
@@ -120,4 +120,5 @@ const char * const debugModeNames[DEBUG_COUNT] = {
     [DEBUG_S_TERM] = "S_TERM",
     [DEBUG_SPA] = "SPA",
     [DEBUG_TASK] = "TASK",
+    [DEBUG_GIMBAL] = "GIMBAL",
 };
diff --git a/src/main/build/debug.h b/src/main/build/debug.h
@@ -122,6 +122,7 @@ typedef enum {
     DEBUG_S_TERM,
     DEBUG_SPA,
     DEBUG_TASK,
+    DEBUG_GIMBAL,
     DEBUG_COUNT
 } debugType_e;
 

diff --git a/src/main/cli/settings.c b/src/main/cli/settings.c
@@ -87,6 +87,7 @@
 #include "pg/displayport_profiles.h"
 #include "pg/dyn_notch.h"
 #include "pg/flash.h"
+#include "pg/gimbal.h"
 #include "pg/gyrodev.h"
 #include "pg/max7456.h"
 #include "pg/mco.h"
@@ -1854,6 +1855,26 @@ const clivalue_t valueTable[] = {
     { "box_user_3_name", VAR_UINT8 | HARDWARE_VALUE | MODE_STRING, .config.string = { 1, MAX_BOX_USER_NAME_LENGTH, STRING_FLAGS_NONE }, PG_MODE_ACTIVATION_CONFIG, offsetof(modeActivationConfig_t, box_user_names[2]) },
     { "box_user_4_name", VAR_UINT8 | HARDWARE_VALUE | MODE_STRING, .config.string = { 1, MAX_BOX_USER_NAME_LENGTH, STRING_FLAGS_NONE }, PG_MODE_ACTIVATION_CONFIG, offsetof(modeActivationConfig_t, box_user_names[3]) },
 #endif
+
+#if defined(USE_GIMBAL)
+    { "gimbal_roll_rc_gain",       VAR_INT8 | MASTER_VALUE, .config.minmaxUnsigned = { -100, 100 }, PG_GIMBAL_TRACK_CONFIG, offsetof(gimbalTrackConfig_t, gimbal_roll_rc_gain) },
+    { "gimbal_pitch_rc_thr_gain",  VAR_INT8 | MASTER_VALUE, .config.minmaxUnsigned = { -100, 100 }, PG_GIMBAL_TRACK_CONFIG, offsetof(gimbalTrackConfig_t, gimbal_pitch_rc_thr_gain) },
+    { "gimbal_pitch_rc_low_gain",  VAR_INT8 | MASTER_VALUE, .config.minmaxUnsigned = { -100, 100 }, PG_GIMBAL_TRACK_CONFIG, offsetof(gimbalTrackConfig_t, gimbal_pitch_rc_low_gain) },
+    { "gimbal_pitch_rc_high_gain", VAR_INT8 | MASTER_VALUE, .config.minmaxUnsigned = { -100, 100 }, PG_GIMBAL_TRACK_CONFIG, offsetof(gimbalTrackConfig_t, gimbal_pitch_rc_high_gain) },
+    { "gimbal_yaw_rc_gain",        VAR_INT8 | MASTER_VALUE, .config.minmaxUnsigned = { -100, 100 }, PG_GIMBAL_TRACK_CONFIG, offsetof(gimbalTrackConfig_t, gimbal_yaw_rc_gain) },
+    { "gimbal_roll_gain",          VAR_INT8 | MASTER_VALUE, .config.minmaxUnsigned = { -100, 100 }, PG_GIMBAL_TRACK_CONFIG, offsetof(gimbalTrackConfig_t, gimbal_roll_gain) },
+    { "gimbal_roll_offset",        VAR_INT8 | MASTER_VALUE, .config.minmaxUnsigned = { -100, 100 }, PG_GIMBAL_TRACK_CONFIG, offsetof(gimbalTrackConfig_t, gimbal_roll_offset) },
+    { "gimbal_roll_limit",         VAR_INT8 | MASTER_VALUE, .config.minmaxUnsigned = { -100, 100 }, PG_GIMBAL_TRACK_CONFIG, offsetof(gimbalTrackConfig_t, gimbal_roll_limit) },
+    { "gimbal_pitch_gain",         VAR_INT8 | MASTER_VALUE, .config.minmaxUnsigned = { -100, 100 }, PG_GIMBAL_TRACK_CONFIG, offsetof(gimbalTrackConfig_t, gimbal_pitch_gain) },
+    { "gimbal_pitch_offset",       VAR_INT8 | MASTER_VALUE, .config.minmaxUnsigned = { -100, 100 }, PG_GIMBAL_TRACK_CONFIG, offsetof(gimbalTrackConfig_t, gimbal_pitch_offset) },
+    { "gimbal_pitch_low_limit",    VAR_INT8 | MASTER_VALUE, .config.minmaxUnsigned = { -100, 100 }, PG_GIMBAL_TRACK_CONFIG, offsetof(gimbalTrackConfig_t, gimbal_pitch_low_limit) },
+    { "gimbal_pitch_high_limit",   VAR_INT8 | MASTER_VALUE, .config.minmaxUnsigned = { -100, 100 }, PG_GIMBAL_TRACK_CONFIG, offsetof(gimbalTrackConfig_t, gimbal_pitch_high_limit) },
+    { "gimbal_yaw_gain",           VAR_INT8 | MASTER_VALUE, .config.minmaxUnsigned = { -100, 100 }, PG_GIMBAL_TRACK_CONFIG, offsetof(gimbalTrackConfig_t, gimbal_yaw_gain) },
+    { "gimbal_yaw_offset",         VAR_INT8 | MASTER_VALUE, .config.minmaxUnsigned = { -100, 100 }, PG_GIMBAL_TRACK_CONFIG, offsetof(gimbalTrackConfig_t, gimbal_yaw_offset) },
+    { "gimbal_yaw_limit",          VAR_INT8 | MASTER_VALUE, .config.minmaxUnsigned = { -100, 100 }, PG_GIMBAL_TRACK_CONFIG, offsetof(gimbalTrackConfig_t, gimbal_yaw_limit) },
+    { "gimbal_stabilisation",      VAR_INT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 7 }, PG_GIMBAL_TRACK_CONFIG, offsetof(gimbalTrackConfig_t, gimbal_stabilisation) },
+    { "gimbal_sensitivity",        VAR_INT8 | MASTER_VALUE, .config.minmaxUnsigned = { -16, 15 }, PG_GIMBAL_TRACK_CONFIG, offsetof(gimbalTrackConfig_t, gimbal_sensitivity) },
+#endif
 };
 
 const uint16_t valueTableEntryCount = ARRAYLEN(valueTable);

diff --git a/src/main/fc/init.c b/src/main/fc/init.c
@@ -113,6 +113,7 @@
 #include "io/displayport_msp.h"
 #include "io/flashfs.h"
 #include "io/gimbal.h"
+#include "io/gimbal_control.h"
 #include "io/gps.h"
 #include "io/ledstrip.h"
 #include "io/pidaudio.h"
@@ -865,6 +866,10 @@ void init(void)
 
 #endif // VTX_CONTROL
 
+#ifdef USE_GIMBAL
+    gimbalInit();
+#endif
+
     batteryInit(); // always needs doing, regardless of features.
 
 #ifdef USE_RCDEVICE

diff --git a/src/main/fc/rc_controls.c b/src/main/fc/rc_controls.c
@@ -48,6 +48,7 @@
 #include "io/beeper.h"
 #include "io/usb_cdc_hid.h"
 #include "io/dashboard.h"
+#include "io/gimbal_control.h"
 #include "io/gps.h"
 #include "io/vtx_control.h"
 

diff --git a/src/main/fc/tasks.c b/src/main/fc/tasks.c
@@ -64,6 +64,7 @@
 #include "io/beeper.h"
 #include "io/dashboard.h"
 #include "io/flashfs.h"
+#include "io/gimbal_control.h"
 #include "io/gps.h"
 #include "io/ledstrip.h"
 #include "io/piniobox.h"
@@ -452,6 +453,9 @@ task_attribute_t task_attributes[TASK_COUNT] = {
     [TASK_RC_STATS] = DEFINE_TASK("RC_STATS", NULL, NULL, rcStatsUpdate, TASK_PERIOD_HZ(100), TASK_PRIORITY_LOW),
 #endif
 
+#ifdef USE_GIMBAL
+    [TASK_GIMBAL] = DEFINE_TASK("GIMBAL", NULL, NULL, gimbalUpdate, TASK_PERIOD_HZ(100), TASK_PRIORITY_MEDIUM),
+#endif
 };
 
 task_t *getTask(unsigned taskId)
@@ -631,4 +635,8 @@ void tasksInit(void)
 #ifdef USE_RC_STATS
     setTaskEnabled(TASK_RC_STATS, true);
 #endif
+
+#ifdef USE_GIMBAL
+    setTaskEnabled(TASK_GIMBAL, true);
+#endif
 }