src/main/fc/rc_modes.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 <stdbool.h>
  24
  25 #include "pg/pg.h"
  26
  27 #define BOXID_NONE 255
  28
  29 typedef enum {
  30     // ARM flag
  31     BOXARM = 0,
  32     // FLIGHT_MODE
  33     BOXANGLE,
  34     BOXHORIZON,
  35     BOXMAG,
  36     BOXHEADFREE,
  37     BOXPASSTHRU,
  38     BOXFAILSAFE,
  39     BOXGPSRESCUE,
  40     BOXID_FLIGHTMODE_LAST = BOXGPSRESCUE,
  41
  42 // When new flight modes are added, the parameter group version for 'modeActivationConditions' in src/main/fc/rc_modes.c has to be incremented to ensure that the RC modes configuration is reset.
  43
  44     // RCMODE flags
  45     BOXANTIGRAVITY,
  46     BOXHEADADJ,
  47     BOXCAMSTAB,
  48     BOXBEEPERON,
  49     BOXLEDLOW,
  50     BOXCALIB,
  51     BOXOSD,
  52     BOXTELEMETRY,
  53     BOXSERVO1,
  54     BOXSERVO2,
  55     BOXSERVO3,
  56     BOXBLACKBOX,
  57     BOXAIRMODE,
  58     BOX3D,
  59     BOXFPVANGLEMIX,
  60     BOXBLACKBOXERASE,
  61     BOXCAMERA1,
  62     BOXCAMERA2,
  63     BOXCAMERA3,
  64     BOXFLIPOVERAFTERCRASH,
  65     BOXPREARM,
  66     BOXBEEPGPSCOUNT,
  67     BOXVTXPITMODE,
  68     BOXPARALYZE,
  69     BOXUSER1,
  70     BOXUSER2,
  71     BOXUSER3,
  72     BOXUSER4,
  73     BOXPIDAUDIO,
  74     BOXACROTRAINER,
  75     BOXVTXCONTROLDISABLE,
  76     BOXLAUNCHCONTROL,
  77     BOXMSPOVERRIDE,
  78     BOXSTICKCOMMANDDISABLE,
  79     BOXBEEPERMUTE,
  80     CHECKBOX_ITEM_COUNT
  81 } boxId_e;
  82
  83 typedef enum {
  84     MODELOGIC_OR = 0,
  85     MODELOGIC_AND
  86 } modeLogic_e;
  87
  88 // type to hold enough bits for CHECKBOX_ITEM_COUNT. Struct used for value-like behavior
  89 typedef struct boxBitmask_s { uint32_t bits[(CHECKBOX_ITEM_COUNT + 31) / 32]; } boxBitmask_t;
  90
  91 #define MAX_MODE_ACTIVATION_CONDITION_COUNT 20
  92
  93 #define CHANNEL_RANGE_MIN 900
  94 #define CHANNEL_RANGE_MAX 2100
  95
  96 #define MODE_STEP_TO_CHANNEL_VALUE(step) (CHANNEL_RANGE_MIN + 25 * step)
  97 #define CHANNEL_VALUE_TO_STEP(channelValue) ((constrain(channelValue, CHANNEL_RANGE_MIN, CHANNEL_RANGE_MAX) - CHANNEL_RANGE_MIN) / 25)
  98
  99 #define MIN_MODE_RANGE_STEP 0
 100 #define MAX_MODE_RANGE_STEP ((CHANNEL_RANGE_MAX - CHANNEL_RANGE_MIN) / 25)
 101
 102 // steps are 25 apart
 103 // a value of 0 corresponds to a channel value of 900 or less
 104 // a value of 48 corresponds to a channel value of 2100 or more
 105 // 48 steps between 900 and 2100
 106 typedef struct channelRange_s {
 107     uint8_t startStep;
 108     uint8_t endStep;
 109 } channelRange_t;
 110
 111 typedef struct modeActivationCondition_s {
 112     boxId_e modeId;
 113     uint8_t auxChannelIndex;
 114     channelRange_t range;
 115     modeLogic_e modeLogic;
 116     boxId_e linkedTo;
 117 } modeActivationCondition_t;
 118
 119 PG_DECLARE_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions);
 120
 121 #if defined(USE_CUSTOM_BOX_NAMES)
 122
 123 #define MAX_BOX_USER_NAME_LENGTH 16
 124
 125 typedef struct modeActivationConfig_s {
 126     char box_user_1_name[MAX_BOX_USER_NAME_LENGTH];
 127     char box_user_2_name[MAX_BOX_USER_NAME_LENGTH];
 128     char box_user_3_name[MAX_BOX_USER_NAME_LENGTH];
 129     char box_user_4_name[MAX_BOX_USER_NAME_LENGTH];
 130 } modeActivationConfig_t;
 131
 132 PG_DECLARE(modeActivationConfig_t, modeActivationConfig);
 133 #endif
 134
 135 typedef struct modeActivationProfile_s {
 136     modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
 137 } modeActivationProfile_t;
 138
 139 #define IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep)
 140
 141 bool IS_RC_MODE_ACTIVE(boxId_e boxId);
 142 void rcModeUpdate(boxBitmask_t *newState);
 143
 144 bool airmodeIsEnabled(void);
 145
 146 bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range);
 147 void updateActivatedModes(void);
 148 bool isModeActivationConditionPresent(boxId_e modeId);
 149 bool isModeActivationConditionLinked(boxId_e modeId);
 150 void removeModeActivationCondition(boxId_e modeId);
 151 bool isModeActivationConditionConfigured(const modeActivationCondition_t *mac, const modeActivationCondition_t *emptyMac);
 152 void analyzeModeActivationConditions(void);