mixer.h

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/*
 * This file is part of Ninjaflight.
 *
 * Copyright: collective.
 * Cleanup: Martin Schröder <mkschreder.uk@gmail.com>
 * Original source from Cleanflight.
 *
 * Ninjaflight is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Ninjaflight is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Ninjaflight.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once

#define MAX_SUPPORTED_MOTORS 12
#define MAX_SUPPORTED_SERVOS 8

#define MAX_SERVO_RULES (2 * MAX_SUPPORTED_SERVOS)
#define MAX_SERVO_SPEED UINT8_MAX
#define MAX_SERVO_BOXES 3

#define DEFAULT_SERVO_MIN 1000
#define DEFAULT_SERVO_MIDDLE 1500
#define DEFAULT_SERVO_MAX 2000
#define DEFAULT_SERVO_MIN_ANGLE 45
#define DEFAULT_SERVO_MAX_ANGLE 45

/*
struct servo_mixer {
    uint8_t targetChannel;                  //!< servo that receives the output of the rule
    uint8_t inputSource;                    //!< input channel for this rule
    int8_t rate;                            //!< range [-125;+125] ; can be used to adjust a rate 0-125% and a direction
    uint8_t speed;                          //!< reduces the speed of the rule, 0=unlimited speed
    int8_t min;                             //!< lower bound of rule range [0;100]% of servo max-min
    int8_t max;                             //!< lower bound of rule range [0;100]% of servo max-min
    uint8_t box;                            //!< active rule if box is enabled, range [0;3], 0=no box, 1=BOXSERVO1, 2=BOXSERVO2, 3=BOXSERVO3
} __attribute__((packed));

struct motor_mixer {
    float throttle;
    float roll;
    float pitch;
    float yaw;
} __attribute__((packed));
*/
struct motor_3d_config {
    uint16_t deadband3d_low;                // min 3d value
    uint16_t deadband3d_high;               // max 3d value
    uint16_t neutral3d;                     // center 3d value
} __attribute__((packed)) ;

struct pwm_output_config {
    // PWM values, in milliseconds, common range is 1000-2000 (1 to 2ms)
    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.
    uint16_t maxthrottle;                   // This is the maximum value for the ESCs at full power this value can be increased up to 2000
    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
    uint16_t servoCenterPulse;              // This is the value for servos when they should be in the middle. e.g. 1500.
    uint16_t motor_pwm_rate;                // The update rate of motor outputs (50-498Hz)
    uint16_t servo_pwm_rate;                // The update rate of servo outputs (50-498Hz)
} __attribute__((packed)) ;

// the following few structures are cleanflight config for motor and servo mixers which is also currently used for custom mixers
#define CHANNEL_FORWARDING_DISABLED (uint8_t)0xff

struct servo_config {
    int16_t min;                            
    int16_t max;                            
    int16_t middle;                         
    int8_t rate;                            
    uint8_t angleAtMin;                     
    uint8_t angleAtMax;                     
    int8_t forwardFromChannel;              
    uint32_t reversedSources;               
} __attribute__ ((__packed__));

struct servo_profile {
    struct servo_config servoConf[MAX_SUPPORTED_SERVOS];
} __attribute__((packed)) ;

typedef enum {
    MIXER_INPUT_GROUP_FC = 0,
    MIXER_INPUT_G0_ROLL = 0,    
    MIXER_INPUT_G0_PITCH,       
    MIXER_INPUT_G0_YAW,         
    MIXER_INPUT_G0_THROTTLE,    
    MIXER_INPUT_G0_TILT_PITCH,  
    MIXER_INPUT_G0_SPOILERS,    
    MIXER_INPUT_G0_AIRBREAKS,   
    MIXER_INPUT_G0_LANDINGGEAR, 
    MIXER_INPUT_GROUP_1 = (1 << 3),
    MIXER_INPUT_G1_ROLL = MIXER_INPUT_GROUP_1,
    MIXER_INPUT_G1_PITCH,
    MIXER_INPUT_G1_YAW,
    MIXER_INPUT_GROUP_GIMBAL = (2 << 3),
    MIXER_INPUT_G2_GIMBAL_ROLL = MIXER_INPUT_GROUP_GIMBAL, 
    MIXER_INPUT_G2_GIMBAL_PITCH,    
    MIXER_INPUT_G2_GIMBAL_YAW,      
    MIXER_INPUT_G2_GIMBAL_SHUTTER,  
    MIXER_INPUT_GROUP_RC = (3 << 3),
    MIXER_INPUT_G3_RC_ROLL = MIXER_INPUT_GROUP_RC, 
    MIXER_INPUT_G3_RC_PITCH,
    MIXER_INPUT_G3_RC_YAW,
    MIXER_INPUT_G3_RC_THROTTLE,
    MIXER_INPUT_G3_RC_MODE,
    MIXER_INPUT_G3_RC_AUX1,
    MIXER_INPUT_G3_RC_AUX2,
    MIXER_INPUT_G3_RC_AUX3,
    MIXER_INPUT_GROUP_MOTOR_PASSTHROUGH = (4 << 3),
    MIXER_INPUT_G4_M1 = MIXER_INPUT_GROUP_MOTOR_PASSTHROUGH,
    MIXER_INPUT_G4_M2,
    MIXER_INPUT_G4_M3,
    MIXER_INPUT_G4_M4,
    MIXER_INPUT_G4_M5,
    MIXER_INPUT_G4_M6,
    MIXER_INPUT_G4_M7,
    MIXER_INPUT_G4_M8,
    MIXER_INPUT_COUNT
} mixer_input_t;

typedef enum {
    MIXER_OUTPUT_MOTORS = 0,
    MIXER_OUTPUT_M1 = MIXER_OUTPUT_MOTORS,
    MIXER_OUTPUT_M2,
    MIXER_OUTPUT_M3,
    MIXER_OUTPUT_M4,
    MIXER_OUTPUT_M5,
    MIXER_OUTPUT_M6,
    MIXER_OUTPUT_M7,
    MIXER_OUTPUT_M8,
    MIXER_MAX_MOTORS = MIXER_OUTPUT_M8 - MIXER_OUTPUT_MOTORS + 1,
    MIXER_OUTPUT_SERVOS = MIXER_OUTPUT_M8 + 1,
    MIXER_OUTPUT_S1 = MIXER_OUTPUT_SERVOS,
    MIXER_OUTPUT_S2,
    MIXER_OUTPUT_S3,
    MIXER_OUTPUT_S4,
    MIXER_OUTPUT_S5,
    MIXER_OUTPUT_S6,
    MIXER_OUTPUT_S7,
    MIXER_OUTPUT_S8,
    MIXER_MAX_SERVOS = MIXER_OUTPUT_S8 - MIXER_OUTPUT_SERVOS + 1,
    MIXER_OUTPUT_COUNT = MIXER_OUTPUT_S8 + 1
} mixer_output_t;

// TODO: all mixers should actually be stored in the client and we should only be supporting custom mixers (and possibly a default)

struct mixer_rule_def {
    uint8_t output;
    uint8_t input;
    int16_t scale;
} __attribute__((packed));

#define MIXER_MAX_RULES 48

typedef enum {
    MIXER_TRI = 1,
    MIXER_QUADP = 2,
    MIXER_QUADX = 3,
    MIXER_BICOPTER = 4,
    MIXER_GIMBAL = 5,
    MIXER_Y6 = 6,
    MIXER_HEX6 = 7,
    MIXER_FLYING_WING = 8,
    MIXER_Y4 = 9,
    MIXER_HEX6X = 10,
    MIXER_OCTOX8 = 11,
    MIXER_OCTOFLATP = 12,
    MIXER_OCTOFLATX = 13,
    MIXER_AIRPLANE = 14,        // airplane / singlecopter / dualcopter (not yet properly supported)
    MIXER_HELI_120_CCPM = 15,
    MIXER_HELI_90_DEG = 16,
    MIXER_VTAIL4 = 17,
    MIXER_HEX6H = 18,
    MIXER_PPM_TO_SERVO = 19,    // PPM -> servo relay
    MIXER_DUALCOPTER = 20,
    MIXER_SINGLECOPTER = 21,
    MIXER_ATAIL4 = 22,
    MIXER_QUADX_TILT1 = 23,
    MIXER_QUADX_TILT2 = 24,
    MIXER_CUSTOM,
    MIXER_CUSTOM_AIRPLANE,
    MIXER_CUSTOM_TRI,
    MIXER_MODE_COUNT,
} mixer_mode_t;


struct mixer_config {
    uint8_t mixerMode;              
    uint8_t pid_at_min_throttle;    
    int8_t yaw_motor_direction;     
    uint16_t yaw_jump_prevention_limit; 
    uint8_t tri_unarmed_servo;      
    float servo_lowpass_freq;       
    int8_t servo_lowpass_enable;    
    struct mixer_rule_def custom_rules[MIXER_MAX_RULES];
} __attribute__((packed)) ;

// TODO: custom servo and motor mixers should use mixer_rule_def instead. Remove the above defs once we are using new structures!