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     MIXER_OCTOX8P = 27
  62 } mixerMode_e;
  63
  64 typedef enum mixerType
  65 {
  66     MIXER_LEGACY = 0,
  67     MIXER_LINEAR = 1,
  68     MIXER_DYNAMIC = 2,
  69 } mixerType_e;
  70
  71 // Custom mixer data per motor
  72 typedef struct motorMixer_s {
  73     float throttle;
  74     float roll;
  75     float pitch;
  76     float yaw;
  77 } motorMixer_t;
  78
  79 PG_DECLARE_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer);
  80
  81 // Custom mixer configuration
  82 typedef struct mixer_s {
  83     uint8_t motorCount;
  84     uint8_t useServo;
  85     const motorMixer_t *motor;
  86 } mixer_t;
  87
  88 typedef struct mixerConfig_s {
  89     uint8_t mixerMode;
  90     bool yaw_motors_reversed;
  91     uint8_t crashflip_motor_percent;
  92     uint8_t crashflip_expo;
  93     uint8_t mixer_type;
  94 } mixerConfig_t;
  95
  96 PG_DECLARE(mixerConfig_t, mixerConfig);
  97
  98 #define CHANNEL_FORWARDING_DISABLED (uint8_t)0xFF
  99
 100 extern const mixer_t mixers[];
 101 extern float motor[MAX_SUPPORTED_MOTORS];
 102 extern float motor_disarmed[MAX_SUPPORTED_MOTORS];
 103 struct rxConfig_s;
 104
 105 uint8_t getMotorCount(void);
 106 float getMotorMixRange(void);
 107 bool areMotorsRunning(void);
 108
 109 void mixerLoadMix(int index, motorMixer_t *customMixers);
 110 void initEscEndpoints(void);
 111 void mixerInit(mixerMode_e mixerMode);
 112 void mixerInitProfile(void);
 113
 114 void mixerResetDisarmedMotors(void);
 115 void mixTable(timeUs_t currentTimeUs);
 116 void stopMotors(void);
 117 void writeMotors(void);
 118
 119 bool mixerIsTricopter(void);
 120
 121 void mixerSetThrottleAngleCorrection(int correctionValue);
 122 float mixerGetThrottle(void);
 123 mixerMode_e getMixerMode(void);
 124 bool mixerModeIsFixedWing(mixerMode_e mixerMode);
 125 bool isFixedWing(void);
 126
 127 float getMotorOutputLow(void);
 128 float getMotorOutputHigh(void);