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 <stdbool.h>
  24 #include <stdint.h>
  25
  26 #include "platform.h"
  27
  28 #include "common/time.h"
  29
  30 #include "pg/pg.h"
  31
  32 #include "drivers/io_types.h"
  33 #include "drivers/pwm_output.h"
  34
  35 #define QUAD_MOTOR_COUNT 4
  36
  37 // Note: this is called MultiType/MULTITYPE_* in baseflight.
  38 typedef enum mixerMode
  39 {
  40     MIXER_TRI = 1,
  41     MIXER_QUADP = 2,
  42     MIXER_QUADX = 3,
  43     MIXER_BICOPTER = 4,
  44     MIXER_GIMBAL = 5,
  45     MIXER_Y6 = 6,
  46     MIXER_HEX6 = 7,
  47     MIXER_FLYING_WING = 8,
  48     MIXER_Y4 = 9,
  49     MIXER_HEX6X = 10,
  50     MIXER_OCTOX8 = 11,
  51     MIXER_OCTOFLATP = 12,
  52     MIXER_OCTOFLATX = 13,
  53     MIXER_AIRPLANE = 14,        // airplane / singlecopter / dualcopter (not yet properly supported)
  54     MIXER_HELI_120_CCPM = 15,
  55     MIXER_HELI_90_DEG = 16,
  56     MIXER_VTAIL4 = 17,
  57     MIXER_HEX6H = 18,
  58     MIXER_PPM_TO_SERVO = 19,    // PPM -> servo relay
  59     MIXER_DUALCOPTER = 20,
  60     MIXER_SINGLECOPTER = 21,
  61     MIXER_ATAIL4 = 22,
  62     MIXER_CUSTOM = 23,
  63     MIXER_CUSTOM_AIRPLANE = 24,
  64     MIXER_CUSTOM_TRI = 25,
  65     MIXER_QUADX_1234 = 26,
  66     MIXER_OCTOX8P = 27
  67 } mixerMode_e;
  68
  69 typedef enum mixerType
  70 {
  71     MIXER_LEGACY = 0,
  72     MIXER_LINEAR = 1,
  73     MIXER_DYNAMIC = 2,
  74     MIXER_EZLANDING = 3,
  75 } mixerType_e;
  76
  77 // Custom mixer data per motor
  78 typedef struct motorMixer_s {
  79     float throttle;
  80     float roll;
  81     float pitch;
  82     float yaw;
  83 } motorMixer_t;
  84
  85 PG_DECLARE_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer);
  86
  87 // Custom mixer configuration
  88 typedef struct mixer_s {
  89     uint8_t motorCount;
  90     uint8_t useServo;
  91     const motorMixer_t *motor;
  92 } mixer_t;
  93
  94 typedef struct mixerConfig_s {
  95     uint8_t mixerMode;
  96     bool yaw_motors_reversed;
  97     uint8_t crashflip_motor_percent;
  98     uint8_t crashflip_rate;
  99     uint8_t mixer_type;
 100 #ifdef USE_RPM_LIMIT
 101     bool rpm_limit;
 102     uint16_t rpm_limit_p;
 103     uint16_t rpm_limit_i;
 104     uint16_t rpm_limit_d;
 105     uint16_t rpm_limit_value;
 106 #endif
 107 } mixerConfig_t;
 108
 109 PG_DECLARE(mixerConfig_t, mixerConfig);
 110
 111 #define CHANNEL_FORWARDING_DISABLED (uint8_t)0xFF
 112
 113 #ifdef USE_RPM_LIMIT
 114 #define RPM_LIMIT_ACTIVE mixerConfig()->rpm_limit
 115 #else
 116 #define RPM_LIMIT_ACTIVE false
 117 #endif
 118
 119 extern const mixer_t mixers[];
 120 extern float motor[MAX_SUPPORTED_MOTORS];
 121 extern float motor_disarmed[MAX_SUPPORTED_MOTORS];
 122 struct rxConfig_s;
 123
 124 bool hasServos(void);
 125 uint8_t getMotorCount(void);
 126 float getMotorMixRange(void);
 127 bool areMotorsRunning(void);
 128 bool areMotorsSaturated(void);
 129
 130 void mixerLoadMix(int index, motorMixer_t *customMixers);
 131 void initEscEndpoints(void);
 132 void mixerInit(mixerMode_e mixerMode);
 133 void mixerInitProfile(void);
 134 void mixerResetRpmLimiter(void);
 135 void mixerResetDisarmedMotors(void);
 136 void mixTable(timeUs_t currentTimeUs);
 137 void stopMotors(void);
 138 void writeMotors(void);
 139
 140 bool mixerIsTricopter(void);
 141
 142 void mixerSetThrottleAngleCorrection(int correctionValue);
 143 float mixerGetThrottle(void);
 144 float mixerGetRcThrottle(void);
 145 mixerMode_e getMixerMode(void);
 146 bool mixerModeIsFixedWing(mixerMode_e mixerMode);
 147 bool isFixedWing(void);
 148
 149 float getMotorOutputLow(void);
 150 float getMotorOutputHigh(void);
 151
 152 bool crashFlipSuccessful(void);
 153
 154 #ifdef USE_WING
 155 float getMotorOutputRms(void);
 156 #endif