src/main/flight/mixer.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include "platform.h"
  24
  25 #include "common/time.h"
  26 #include "pg/pg.h"
  27 #include "drivers/io_types.h"
  28 #include "drivers/pwm_output.h"
  29
  30 #define QUAD_MOTOR_COUNT 4
  31
  32 // Note: this is called MultiType/MULTITYPE_* in baseflight.
  33 typedef enum mixerMode
  34 {
  35     MIXER_TRI = 1,
  36     MIXER_QUADP = 2,
  37     MIXER_QUADX = 3,
  38     MIXER_BICOPTER = 4,
  39     MIXER_GIMBAL = 5,
  40     MIXER_Y6 = 6,
  41     MIXER_HEX6 = 7,
  42     MIXER_FLYING_WING = 8,
  43     MIXER_Y4 = 9,
  44     MIXER_HEX6X = 10,
  45     MIXER_OCTOX8 = 11,
  46     MIXER_OCTOFLATP = 12,
  47     MIXER_OCTOFLATX = 13,
  48     MIXER_AIRPLANE = 14,        // airplane / singlecopter / dualcopter (not yet properly supported)
  49     MIXER_HELI_120_CCPM = 15,
  50     MIXER_HELI_90_DEG = 16,
  51     MIXER_VTAIL4 = 17,
  52     MIXER_HEX6H = 18,
  53     MIXER_PPM_TO_SERVO = 19,    // PPM -> servo relay
  54     MIXER_DUALCOPTER = 20,
  55     MIXER_SINGLECOPTER = 21,
  56     MIXER_ATAIL4 = 22,
  57     MIXER_CUSTOM = 23,
  58     MIXER_CUSTOM_AIRPLANE = 24,
  59     MIXER_CUSTOM_TRI = 25,
  60     MIXER_QUADX_1234 = 26
  61 } mixerMode_e;
  62
  63 typedef enum mixerType
  64 {
  65     MIXER_LEGACY = 0,
  66     MIXER_LINEAR = 1,
  67     MIXER_DYNAMIC = 2,
  68 } mixerType_e;
  69
  70 // Custom mixer data per motor
  71 typedef struct motorMixer_s {
  72     float throttle;
  73     float roll;
  74     float pitch;
  75     float yaw;
  76 } motorMixer_t;
  77
  78 PG_DECLARE_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer);
  79
  80 // Custom mixer configuration
  81 typedef struct mixer_s {
  82     uint8_t motorCount;
  83     uint8_t useServo;
  84     const motorMixer_t *motor;
  85 } mixer_t;
  86
  87 typedef struct mixerConfig_s {
  88     uint8_t mixerMode;
  89     bool yaw_motors_reversed;
  90     uint8_t crashflip_motor_percent;
  91     uint8_t crashflip_expo;
  92     uint8_t mixer_type;
  93 } mixerConfig_t;
  94
  95 PG_DECLARE(mixerConfig_t, mixerConfig);
  96
  97 #define CHANNEL_FORWARDING_DISABLED (uint8_t)0xFF
  98
  99 extern const mixer_t mixers[];
 100 extern float motor[MAX_SUPPORTED_MOTORS];
 101 extern float motor_disarmed[MAX_SUPPORTED_MOTORS];
 102 struct rxConfig_s;
 103
 104 uint8_t getMotorCount(void);
 105 float getMotorMixRange(void);
 106 bool areMotorsRunning(void);
 107
 108 void mixerLoadMix(int index, motorMixer_t *customMixers);
 109 void initEscEndpoints(void);
 110 void mixerInit(mixerMode_e mixerMode);
 111 void mixerInitProfile(void);
 112
 113 void mixerResetDisarmedMotors(void);
 114 void mixTable(timeUs_t currentTimeUs);
 115 void stopMotors(void);
 116 void writeMotors(void);
 117
 118 bool mixerIsTricopter(void);
 119
 120 void mixerSetThrottleAngleCorrection(int correctionValue);
 121 float mixerGetThrottle(void);
 122 mixerMode_e getMixerMode(void);
 123 bool mixerModeIsFixedWing(mixerMode_e mixerMode);
 124 bool isFixedWing(void);
 125
 126 float getMotorOutputLow(void);
 127 float getMotorOutputHigh(void);