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 #define MAX_SUPPORTED_MOTORS 12
  21 #define MAX_SUPPORTED_SERVOS 8
  22 #define YAW_JUMP_PREVENTION_LIMIT_LOW 80
  23 #define YAW_JUMP_PREVENTION_LIMIT_HIGH 500
  24
  25
  26 // Note: this is called MultiType/MULTITYPE_* in baseflight.
  27 typedef enum mixerMode
  28 {
  29     MIXER_TRI = 1,
  30     MIXER_QUADP = 2,
  31     MIXER_QUADX = 3,
  32     MIXER_BICOPTER = 4,
  33     MIXER_GIMBAL = 5,
  34     MIXER_Y6 = 6,
  35     MIXER_HEX6 = 7,
  36     MIXER_FLYING_WING = 8,
  37     MIXER_Y4 = 9,
  38     MIXER_HEX6X = 10,
  39     MIXER_OCTOX8 = 11,
  40     MIXER_OCTOFLATP = 12,
  41     MIXER_OCTOFLATX = 13,
  42     MIXER_AIRPLANE = 14,        // airplane / singlecopter / dualcopter (not yet properly supported)
  43     MIXER_HELI_120_CCPM = 15,
  44     MIXER_HELI_90_DEG = 16,
  45     MIXER_VTAIL4 = 17,
  46     MIXER_HEX6H = 18,
  47     MIXER_PPM_TO_SERVO = 19,    // PPM -> servo relay
  48     MIXER_DUALCOPTER = 20,
  49     MIXER_SINGLECOPTER = 21,
  50     MIXER_ATAIL4 = 22,
  51     MIXER_CUSTOM = 23,
  52     MIXER_CUSTOM_AIRPLANE = 24,
  53     MIXER_CUSTOM_TRI = 25,
  54     MIXER_QUADX_1234 = 26
  55 } mixerMode_e;
  56
  57 // Custom mixer data per motor
  58 typedef struct motorMixer_s {
  59     float throttle;
  60     float roll;
  61     float pitch;
  62     float yaw;
  63 } motorMixer_t;
  64
  65 // Custom mixer configuration
  66 typedef struct mixer_s {
  67     uint8_t motorCount;
  68     uint8_t useServo;
  69     const motorMixer_t *motor;
  70 } mixer_t;
  71
  72 typedef struct mixerConfig_s {
  73     int8_t yaw_motor_direction;
  74     uint16_t yaw_jump_prevention_limit;     // make limit configurable (original fixed value was 100)
  75 #ifdef USE_SERVOS
  76     uint8_t tri_unarmed_servo;              // send tail servo correction pulses even when unarmed
  77     uint16_t servo_lowpass_freq;             // lowpass servo filter frequency selection; 1/1000ths of loop freq
  78     int8_t servo_lowpass_enable;            // enable/disable lowpass filter
  79 #endif
  80 } mixerConfig_t;
  81
  82 typedef struct flight3DConfig_s {
  83     uint16_t deadband3d_low;                // min 3d value
  84     uint16_t deadband3d_high;               // max 3d value
  85     uint16_t neutral3d;                     // center 3d value
  86     uint16_t deadband3d_throttle;           // default throttle deadband from MIDRC
  87 } flight3DConfig_t;
  88
  89 typedef struct airplaneConfig_s {
  90     int8_t fixedwing_althold_dir;           // +1 or -1 for pitch/althold gain. later check if need more than just sign
  91 } airplaneConfig_t;
  92
  93 #define CHANNEL_FORWARDING_DISABLED (uint8_t)0xFF
  94
  95 #ifdef USE_SERVOS
  96
  97 // These must be consecutive, see 'reversedSources'
  98 enum {
  99     INPUT_STABILIZED_ROLL = 0,
 100     INPUT_STABILIZED_PITCH,
 101     INPUT_STABILIZED_YAW,
 102     INPUT_STABILIZED_THROTTLE,
 103     INPUT_RC_ROLL,
 104     INPUT_RC_PITCH,
 105     INPUT_RC_YAW,
 106     INPUT_RC_THROTTLE,
 107     INPUT_RC_AUX1,
 108     INPUT_RC_AUX2,
 109     INPUT_RC_AUX3,
 110     INPUT_RC_AUX4,
 111     INPUT_GIMBAL_PITCH,
 112     INPUT_GIMBAL_ROLL,
 113
 114     INPUT_SOURCE_COUNT
 115 } inputSource_e;
 116
 117 // target servo channels
 118 typedef enum {
 119     SERVO_GIMBAL_PITCH = 0,
 120     SERVO_GIMBAL_ROLL = 1,
 121     SERVO_FLAPS = 2,
 122     SERVO_FLAPPERON_1 = 3,
 123     SERVO_FLAPPERON_2 = 4,
 124     SERVO_RUDDER = 5,
 125     SERVO_ELEVATOR = 6,
 126     SERVO_THROTTLE = 7, // for internal combustion (IC) planes
 127
 128     SERVO_BICOPTER_LEFT = 4,
 129     SERVO_BICOPTER_RIGHT = 5,
 130
 131     SERVO_DUALCOPTER_LEFT = 4,
 132     SERVO_DUALCOPTER_RIGHT = 5,
 133
 134     SERVO_SINGLECOPTER_1 = 3,
 135     SERVO_SINGLECOPTER_2 = 4,
 136     SERVO_SINGLECOPTER_3 = 5,
 137     SERVO_SINGLECOPTER_4 = 6,
 138
 139 } servoIndex_e; // FIXME rename to servoChannel_e
 140
 141 #define SERVO_PLANE_INDEX_MIN SERVO_FLAPS
 142 #define SERVO_PLANE_INDEX_MAX SERVO_THROTTLE
 143
 144 #define SERVO_DUALCOPTER_INDEX_MIN SERVO_DUALCOPTER_LEFT
 145 #define SERVO_DUALCOPTER_INDEX_MAX SERVO_DUALCOPTER_RIGHT
 146
 147 #define SERVO_SINGLECOPTER_INDEX_MIN SERVO_SINGLECOPTER_1
 148 #define SERVO_SINGLECOPTER_INDEX_MAX SERVO_SINGLECOPTER_4
 149
 150 #define SERVO_FLAPPERONS_MIN SERVO_FLAPPERON_1
 151 #define SERVO_FLAPPERONS_MAX SERVO_FLAPPERON_2
 152
 153 typedef struct servoMixer_s {
 154     uint8_t targetChannel;                  // servo that receives the output of the rule
 155     uint8_t inputSource;                    // input channel for this rule
 156     int8_t rate;                            // range [-125;+125] ; can be used to adjust a rate 0-125% and a direction
 157     uint8_t speed;                          // reduces the speed of the rule, 0=unlimited speed
 158     int8_t min;                             // lower bound of rule range [0;100]% of servo max-min
 159     int8_t max;                             // lower bound of rule range [0;100]% of servo max-min
 160     uint8_t box;                            // active rule if box is enabled, range [0;3], 0=no box, 1=BOXSERVO1, 2=BOXSERVO2, 3=BOXSERVO3
 161 } servoMixer_t;
 162
 163 #define MAX_SERVO_RULES (2 * MAX_SUPPORTED_SERVOS)
 164 #define MAX_SERVO_SPEED UINT8_MAX
 165 #define MAX_SERVO_BOXES 3
 166
 167 // Custom mixer configuration
 168 typedef struct mixerRules_s {
 169     uint8_t servoRuleCount;
 170     const servoMixer_t *rule;
 171 } mixerRules_t;
 172
 173 typedef struct servoParam_s {
 174     int16_t min;                            // servo min
 175     int16_t max;                            // servo max
 176     int16_t middle;                         // servo middle
 177     int8_t rate;                            // range [-125;+125] ; can be used to adjust a rate 0-125% and a direction
 178     uint8_t angleAtMin;                     // range [0;180] the measured angle in degrees from the middle when the servo is at the 'min' value.
 179     uint8_t angleAtMax;                     // range [0;180] the measured angle in degrees from the middle when the servo is at the 'max' value.
 180     int8_t forwardFromChannel;              // RX channel index, 0 based.  See CHANNEL_FORWARDING_DISABLED
 181     uint32_t reversedSources;               // the direction of servo movement for each input source of the servo mixer, bit set=inverted
 182 } __attribute__ ((__packed__)) servoParam_t;
 183
 184 struct gimbalConfig_s;
 185 struct escAndServoConfig_s;
 186 struct rxConfig_s;
 187
 188 extern int16_t servo[MAX_SUPPORTED_SERVOS];
 189 bool isMixerUsingServos(void);
 190 void writeServos(void);
 191 void filterServos(void);
 192 bool motorLimitReached;
 193 #endif
 194
 195 extern int16_t motor[MAX_SUPPORTED_MOTORS];
 196 extern int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
 197
 198 struct escAndServoConfig_s;
 199 struct rxConfig_s;
 200
 201 void mixerUseConfigs(
 202 #ifdef USE_SERVOS
 203         servoParam_t *servoConfToUse,
 204         struct gimbalConfig_s *gimbalConfigToUse,
 205 #endif
 206         flight3DConfig_t *flight3DConfigToUse,
 207         struct escAndServoConfig_s *escAndServoConfigToUse,
 208         mixerConfig_t *mixerConfigToUse,
 209         airplaneConfig_t *airplaneConfigToUse,
 210         struct rxConfig_s *rxConfigToUse);
 211
 212 void writeAllMotors(int16_t mc);
 213 void mixerLoadMix(int index, motorMixer_t *customMixers);
 214 #ifdef USE_SERVOS
 215 void servoMixerLoadMix(int index, servoMixer_t *customServoMixers);
 216 void loadCustomServoMixer(void);
 217 int servoDirection(int servoIndex, int fromChannel);
 218 #endif
 219 void mixerResetDisarmedMotors(void);
 220 void mixTable(void);
 221 void writeMotors(uint8_t unsyncedPwm);
 222 void stopMotors(void);
 223 void StopPwmAllMotors(void);