mirror of
https://github.com/betaflight/betaflight.git
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120 lines
3.2 KiB
C
120 lines
3.2 KiB
C
/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "platform.h"
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#include "common/time.h"
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#include "pg/pg.h"
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#include "drivers/io_types.h"
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#include "drivers/pwm_output.h"
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#define QUAD_MOTOR_COUNT 4
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// Note: this is called MultiType/MULTITYPE_* in baseflight.
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typedef enum mixerMode
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{
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MIXER_TRI = 1,
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MIXER_QUADP = 2,
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MIXER_QUADX = 3,
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MIXER_BICOPTER = 4,
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MIXER_GIMBAL = 5,
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MIXER_Y6 = 6,
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MIXER_HEX6 = 7,
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MIXER_FLYING_WING = 8,
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MIXER_Y4 = 9,
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MIXER_HEX6X = 10,
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MIXER_OCTOX8 = 11,
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MIXER_OCTOFLATP = 12,
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MIXER_OCTOFLATX = 13,
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MIXER_AIRPLANE = 14, // airplane / singlecopter / dualcopter (not yet properly supported)
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MIXER_HELI_120_CCPM = 15,
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MIXER_HELI_90_DEG = 16,
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MIXER_VTAIL4 = 17,
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MIXER_HEX6H = 18,
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MIXER_PPM_TO_SERVO = 19, // PPM -> servo relay
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MIXER_DUALCOPTER = 20,
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MIXER_SINGLECOPTER = 21,
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MIXER_ATAIL4 = 22,
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MIXER_CUSTOM = 23,
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MIXER_CUSTOM_AIRPLANE = 24,
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MIXER_CUSTOM_TRI = 25,
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MIXER_QUADX_1234 = 26
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} mixerMode_e;
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// Custom mixer data per motor
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typedef struct motorMixer_s {
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float throttle;
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float roll;
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float pitch;
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float yaw;
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} motorMixer_t;
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PG_DECLARE_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer);
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// Custom mixer configuration
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typedef struct mixer_s {
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uint8_t motorCount;
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uint8_t useServo;
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const motorMixer_t *motor;
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} mixer_t;
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typedef struct mixerConfig_s {
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uint8_t mixerMode;
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bool yaw_motors_reversed;
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uint8_t crashflip_motor_percent;
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uint8_t crashflip_expo;
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uint8_t linear_mixer;
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} mixerConfig_t;
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PG_DECLARE(mixerConfig_t, mixerConfig);
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#define CHANNEL_FORWARDING_DISABLED (uint8_t)0xFF
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extern const mixer_t mixers[];
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extern float motor[MAX_SUPPORTED_MOTORS];
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extern float motor_disarmed[MAX_SUPPORTED_MOTORS];
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struct rxConfig_s;
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uint8_t getMotorCount(void);
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float getMotorMixRange(void);
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bool areMotorsRunning(void);
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void mixerLoadMix(int index, motorMixer_t *customMixers);
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void initEscEndpoints(void);
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void mixerInit(mixerMode_e mixerMode);
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void mixerInitProfile(void);
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void mixerResetDisarmedMotors(void);
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void mixTable(timeUs_t currentTimeUs);
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void stopMotors(void);
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void writeMotors(void);
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bool mixerIsTricopter(void);
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void mixerSetThrottleAngleCorrection(int correctionValue);
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float mixerGetThrottle(void);
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mixerMode_e getMixerMode(void);
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bool mixerModeIsFixedWing(mixerMode_e mixerMode);
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bool isFixedWing(void);
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float getMotorOutputLow(void);
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float getMotorOutputHigh(void);
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