src/main/fc/runtime_config.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 "common/utils.h"
  24
  25 // FIXME some of these are flight modes, some of these are general status indicators
  26 typedef enum {
  27     ARMED                       = (1 << 0),
  28     WAS_EVER_ARMED              = (1 << 1),
  29     WAS_ARMED_WITH_PREARM       = (1 << 2)
  30 } armingFlag_e;
  31
  32 extern uint8_t armingFlags;
  33
  34 #define DISABLE_ARMING_FLAG(mask) (armingFlags &= ~(mask))
  35 #define ENABLE_ARMING_FLAG(mask) (armingFlags |= (mask))
  36 #define ARMING_FLAG(mask) (armingFlags & (mask))
  37
  38 /*
  39  * Arming disable flags are listed in the order of criticalness.
  40  * (Beeper code can notify the most critical reason.)
  41  */
  42 typedef enum {
  43     ARMING_DISABLED_NO_GYRO         = (1 << 0),
  44     ARMING_DISABLED_FAILSAFE        = (1 << 1),
  45     ARMING_DISABLED_RX_FAILSAFE     = (1 << 2),
  46     ARMING_DISABLED_BAD_RX_RECOVERY = (1 << 3),
  47     ARMING_DISABLED_BOXFAILSAFE     = (1 << 4),
  48     ARMING_DISABLED_RUNAWAY_TAKEOFF = (1 << 5),
  49     ARMING_DISABLED_CRASH_DETECTED  = (1 << 6),
  50     ARMING_DISABLED_THROTTLE        = (1 << 7),
  51     ARMING_DISABLED_ANGLE           = (1 << 8),
  52     ARMING_DISABLED_BOOT_GRACE_TIME = (1 << 9),
  53     ARMING_DISABLED_NOPREARM        = (1 << 10),
  54     ARMING_DISABLED_LOAD            = (1 << 11),
  55     ARMING_DISABLED_CALIBRATING     = (1 << 12),
  56     ARMING_DISABLED_CLI             = (1 << 13),
  57     ARMING_DISABLED_CMS_MENU        = (1 << 14),
  58     ARMING_DISABLED_BST             = (1 << 15),
  59     ARMING_DISABLED_MSP             = (1 << 16),
  60     ARMING_DISABLED_PARALYZE        = (1 << 17),
  61     ARMING_DISABLED_GPS             = (1 << 18),
  62     ARMING_DISABLED_RESC            = (1 << 19),
  63     ARMING_DISABLED_RPMFILTER       = (1 << 20),
  64     ARMING_DISABLED_REBOOT_REQUIRED = (1 << 21),
  65     ARMING_DISABLED_DSHOT_BITBANG   = (1 << 22),
  66     ARMING_DISABLED_ACC_CALIBRATION = (1 << 23),
  67     ARMING_DISABLED_MOTOR_PROTOCOL  = (1 << 24),
  68     ARMING_DISABLED_ARM_SWITCH      = (1 << 25), // Needs to be the last element, since it's always activated if one of the others is active when arming
  69 } armingDisableFlags_e;
  70
  71 #define ARMING_DISABLE_FLAGS_COUNT (LOG2(ARMING_DISABLED_ARM_SWITCH) + 1)
  72
  73 extern const char *armingDisableFlagNames[ARMING_DISABLE_FLAGS_COUNT];
  74
  75 void setArmingDisabled(armingDisableFlags_e flag);
  76 void unsetArmingDisabled(armingDisableFlags_e flag);
  77 bool isArmingDisabled(void);
  78 armingDisableFlags_e getArmingDisableFlags(void);
  79
  80 typedef enum {
  81     ANGLE_MODE      = (1 << 0),
  82     HORIZON_MODE    = (1 << 1),
  83     MAG_MODE        = (1 << 2),
  84 //    BARO_MODE       = (1 << 3),
  85 //    GPS_HOME_MODE   = (1 << 4),
  86 //    GPS_HOLD_MODE   = (1 << 5),
  87     HEADFREE_MODE   = (1 << 6),
  88 //    UNUSED_MODE     = (1 << 7), // old autotune
  89     PASSTHRU_MODE   = (1 << 8),
  90 //    RANGEFINDER_MODE= (1 << 9),
  91     FAILSAFE_MODE   = (1 << 10),
  92     GPS_RESCUE_MODE = (1 << 11)
  93 } flightModeFlags_e;
  94
  95 extern uint16_t flightModeFlags;
  96
  97 #define DISABLE_FLIGHT_MODE(mask) disableFlightMode(mask)
  98 #define ENABLE_FLIGHT_MODE(mask) enableFlightMode(mask)
  99 #define FLIGHT_MODE(mask) (flightModeFlags & (mask))
 100
 101 // macro to initialize map from boxId_e to log2(flightModeFlags). Keep it in sync with flightModeFlags_e enum.
 102 // [BOXARM] is left unpopulated
 103 #define BOXID_TO_FLIGHT_MODE_MAP_INITIALIZER {           \
 104    [BOXANGLE]       = LOG2(ANGLE_MODE),                  \
 105    [BOXHORIZON]     = LOG2(HORIZON_MODE),                \
 106    [BOXMAG]         = LOG2(MAG_MODE),                    \
 107    [BOXHEADFREE]    = LOG2(HEADFREE_MODE),               \
 108    [BOXPASSTHRU]    = LOG2(PASSTHRU_MODE),               \
 109    [BOXFAILSAFE]    = LOG2(FAILSAFE_MODE),               \
 110    [BOXGPSRESCUE]   = LOG2(GPS_RESCUE_MODE),             \
 111 }                                                        \
 112 /**/
 113
 114 typedef enum {
 115     GPS_FIX_HOME   = (1 << 0),
 116     GPS_FIX        = (1 << 1),
 117     GPS_FIX_EVER   = (1 << 2),
 118 } stateFlags_t;
 119
 120 #define DISABLE_STATE(mask) (stateFlags &= ~(mask))
 121 #define ENABLE_STATE(mask) (stateFlags |= (mask))
 122 #define STATE(mask) (stateFlags & (mask))
 123
 124 extern uint8_t stateFlags;
 125
 126 uint16_t enableFlightMode(flightModeFlags_e mask);
 127 uint16_t disableFlightMode(flightModeFlags_e mask);
 128
 129 bool sensors(uint32_t mask);
 130 void sensorsSet(uint32_t mask);
 131 void sensorsClear(uint32_t mask);
 132 uint32_t sensorsMask(void);
 133
 134 void mwDisarm(void);