src/main/flight/mixer.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include "config/parameter_group.h"
  21
  22 #include "drivers/timer.h"
  23
  24 #if defined(TARGET_MOTOR_COUNT)
  25 #define MAX_SUPPORTED_MOTORS TARGET_MOTOR_COUNT
  26 #else
  27 #define MAX_SUPPORTED_MOTORS 12
  28 #endif
  29
  30 // Digital protocol has fixed values
  31 #define DSHOT_DISARM_COMMAND      0
  32 #define DSHOT_MIN_THROTTLE       48
  33 #define DSHOT_MAX_THROTTLE     2047
  34 #define DSHOT_3D_DEADBAND_LOW  1047
  35 #define DSHOT_3D_DEADBAND_HIGH 1048
  36
  37 typedef enum {
  38     PLATFORM_MULTIROTOR     = 0,
  39     PLATFORM_AIRPLANE       = 1,
  40     PLATFORM_HELICOPTER     = 2,
  41     PLATFORM_TRICOPTER      = 3,
  42     PLATFORM_ROVER          = 4,
  43     PLATFORM_BOAT           = 5,
  44     PLATFORM_OTHER          = 6
  45 } flyingPlatformType_e;
  46
  47
  48 typedef enum {
  49     OUTPUT_MODE_AUTO     = 0,
  50     OUTPUT_MODE_MOTORS,
  51     OUTPUT_MODE_SERVOS
  52 } outputMode_e;
  53
  54 typedef struct motorAxisCorrectionLimits_s {
  55     int16_t min;
  56     int16_t max;
  57 } motorAxisCorrectionLimits_t;
  58
  59 // Custom mixer data per motor
  60 typedef struct motorMixer_s {
  61     float throttle;
  62     float roll;
  63     float pitch;
  64     float yaw;
  65 } motorMixer_t;
  66
  67
  68 typedef struct timerOverride_s {
  69     uint8_t outputMode;
  70 } timerOverride_t;
  71
  72 PG_DECLARE_ARRAY(timerOverride_t, HARDWARE_TIMER_DEFINITION_COUNT, timerOverrides);
  73
  74 typedef struct reversibleMotorsConfig_s {
  75     uint16_t deadband_low;                // min 3d value
  76     uint16_t deadband_high;               // max 3d value
  77     uint16_t neutral;                     // center 3d value
  78 } reversibleMotorsConfig_t;
  79
  80 PG_DECLARE(reversibleMotorsConfig_t, reversibleMotorsConfig);
  81
  82 typedef struct motorConfig_s {
  83     // PWM values, in milliseconds, common range is 1000-2000 (1ms to 2ms)
  84     uint16_t maxthrottle;                   // This is the maximum value for the ESCs at full power this value can be increased up to 2000
  85     uint16_t mincommand;                    // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
  86     uint16_t motorPwmRate;                  // The update rate of motor outputs (50-498Hz)
  87     uint8_t  motorPwmProtocol;
  88     uint16_t digitalIdleOffsetValue;
  89     uint8_t motorPoleCount;                 // Magnetic poles in the motors for calculating actual RPM from eRPM provided by ESC telemetry
  90 } motorConfig_t;
  91
  92 PG_DECLARE(motorConfig_t, motorConfig);
  93
  94 typedef enum {
  95     MOTOR_STOPPED_USER,
  96     MOTOR_STOPPED_AUTO,
  97     MOTOR_RUNNING
  98 } motorStatus_e;
  99
 100 typedef enum {
 101     MOTOR_DIRECTION_FORWARD,
 102     MOTOR_DIRECTION_BACKWARD,
 103     MOTOR_DIRECTION_DEADBAND
 104 } reversibleMotorsThrottleState_e;
 105
 106 extern int16_t motor[MAX_SUPPORTED_MOTORS];
 107 extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
 108 extern int mixerThrottleCommand;
 109
 110 bool ifMotorstopFeatureEnabled(void);
 111 int getThrottleIdleValue(void);
 112 int16_t getThrottlePercent(bool);
 113 uint16_t setDesiredThrottle(uint16_t throttle, bool allowMotorStop);
 114 uint8_t getMotorCount(void);
 115 float getMotorMixRange(void);
 116 bool mixerIsOutputSaturated(void);
 117 motorStatus_e getMotorStatus(void);
 118
 119 void writeAllMotors(int16_t mc);
 120 void mixerInit(void);
 121 void mixerUpdateStateFlags(void);
 122 void mixerResetDisarmedMotors(void);
 123 void mixTable(void);
 124 void writeMotors(void);
 125 void processServoAutotrim(const float dT);
 126 void processServoAutotrimMode(void);
 127 void processContinuousServoAutotrim(const float dT);
 128 void stopMotors(void);
 129 void stopMotorsNoDelay(void);
 130 void stopPwmAllMotors(void);
 131
 132 void loadPrimaryMotorMixer(void);
 133 bool areMotorsRunning(void);