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/pwm_output_counts.h"
  28 #include "drivers/io_types.h"
  29 #include "drivers/pwm_output.h"
  30
  31 #define QUAD_MOTOR_COUNT 4
  32 #define BRUSHED_MOTORS_PWM_RATE 16000
  33 #define BRUSHLESS_MOTORS_PWM_RATE 480
  34
  35 // Digital protocol has fixed values
  36 #define DSHOT_DISARM_COMMAND      0
  37 #define DSHOT_MIN_THROTTLE       48
  38 #define DSHOT_MAX_THROTTLE     2047
  39 #define DSHOT_3D_DEADBAND_LOW  1047
  40 #define DSHOT_3D_DEADBAND_HIGH 1048
  41
  42 // Note: this is called MultiType/MULTITYPE_* in baseflight.
  43 typedef enum mixerMode
  44 {
  45     MIXER_TRI = 1,
  46     MIXER_QUADP = 2,
  47     MIXER_QUADX = 3,
  48     MIXER_BICOPTER = 4,
  49     MIXER_GIMBAL = 5,
  50     MIXER_Y6 = 6,
  51     MIXER_HEX6 = 7,
  52     MIXER_FLYING_WING = 8,
  53     MIXER_Y4 = 9,
  54     MIXER_HEX6X = 10,
  55     MIXER_OCTOX8 = 11,
  56     MIXER_OCTOFLATP = 12,
  57     MIXER_OCTOFLATX = 13,
  58     MIXER_AIRPLANE = 14,        // airplane / singlecopter / dualcopter (not yet properly supported)
  59     MIXER_HELI_120_CCPM = 15,
  60     MIXER_HELI_90_DEG = 16,
  61     MIXER_VTAIL4 = 17,
  62     MIXER_HEX6H = 18,
  63     MIXER_PPM_TO_SERVO = 19,    // PPM -> servo relay
  64     MIXER_DUALCOPTER = 20,
  65     MIXER_SINGLECOPTER = 21,
  66     MIXER_ATAIL4 = 22,
  67     MIXER_CUSTOM = 23,
  68     MIXER_CUSTOM_AIRPLANE = 24,
  69     MIXER_CUSTOM_TRI = 25,
  70     MIXER_QUADX_1234 = 26
  71 } mixerMode_e;
  72
  73 // Custom mixer data per motor
  74 typedef struct motorMixer_s {
  75     float throttle;
  76     float roll;
  77     float pitch;
  78     float yaw;
  79 } motorMixer_t;
  80
  81 PG_DECLARE_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer);
  82
  83 // Custom mixer configuration
  84 typedef struct mixer_s {
  85     uint8_t motorCount;
  86     uint8_t useServo;
  87     const motorMixer_t *motor;
  88 } mixer_t;
  89
  90 typedef struct mixerConfig_s {
  91     uint8_t mixerMode;
  92     bool yaw_motors_reversed;
  93     uint8_t crashflip_motor_percent;
  94 } mixerConfig_t;
  95
  96 PG_DECLARE(mixerConfig_t, mixerConfig);
  97
  98 typedef struct motorConfig_s {
  99     motorDevConfig_t dev;
 100     uint16_t digitalIdleOffsetValue;        // Idle value for DShot protocol, full motor output = 10000
 101     uint16_t minthrottle;                   // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
 102     uint16_t maxthrottle;                   // This is the maximum value for the ESCs at full power this value can be increased up to 2000
 103     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
 104 } motorConfig_t;
 105
 106 PG_DECLARE(motorConfig_t, motorConfig);
 107
 108 #define CHANNEL_FORWARDING_DISABLED (uint8_t)0xFF
 109
 110 extern const mixer_t mixers[];
 111 extern float motor[MAX_SUPPORTED_MOTORS];
 112 extern float motor_disarmed[MAX_SUPPORTED_MOTORS];
 113 extern float motorOutputHigh, motorOutputLow;
 114 struct rxConfig_s;
 115
 116 uint8_t getMotorCount(void);
 117 float getMotorMixRange(void);
 118 bool areMotorsRunning(void);
 119 bool mixerIsOutputSaturated(int axis, float errorRate);
 120
 121 void mixerLoadMix(int index, motorMixer_t *customMixers);
 122 void mixerInit(mixerMode_e mixerMode);
 123
 124 void mixerConfigureOutput(void);
 125
 126 void mixerResetDisarmedMotors(void);
 127 void mixTable(timeUs_t currentTimeUs, uint8_t vbatPidCompensation);
 128 void syncMotors(bool enabled);
 129 void writeMotors(void);
 130 void stopMotors(void);
 131 void stopPwmAllMotors(void);
 132
 133 float convertExternalToMotor(uint16_t externalValue);
 134 uint16_t convertMotorToExternal(float motorValue);
 135 bool mixerIsTricopter(void);