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     BOXALTHOLD,
  37     BOXHEADFREE,
  38     BOXPASSTHRU,
  39     BOXFAILSAFE,
  40     BOXPOSHOLD,
  41     BOXGPSRESCUE,
  42     BOXID_FLIGHTMODE_LAST = BOXGPSRESCUE,
  43
  44 // 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.
  45
  46     // RCMODE flags
  47     BOXANTIGRAVITY,
  48     BOXHEADADJ,
  49     BOXCAMSTAB,
  50     BOXBEEPERON,
  51     BOXLEDLOW,
  52     BOXCALIB,
  53     BOXOSD,
  54     BOXTELEMETRY,
  55     BOXSERVO1,
  56     BOXSERVO2,
  57     BOXSERVO3,
  58     BOXBLACKBOX,
  59     BOXAIRMODE,
  60     BOX3D,
  61     BOXFPVANGLEMIX,
  62     BOXBLACKBOXERASE,
  63     BOXCAMERA1,
  64     BOXCAMERA2,
  65     BOXCAMERA3,
  66     BOXCRASHFLIP,
  67     BOXPREARM,
  68     BOXBEEPGPSCOUNT,
  69     BOXVTXPITMODE,
  70     BOXPARALYZE,
  71     BOXUSER1,
  72     BOXUSER2,
  73     BOXUSER3,
  74     BOXUSER4,
  75     BOXPIDAUDIO,
  76     BOXACROTRAINER,
  77     BOXVTXCONTROLDISABLE,
  78     BOXLAUNCHCONTROL,
  79     BOXMSPOVERRIDE,
  80     BOXSTICKCOMMANDDISABLE,
  81     BOXBEEPERMUTE,
  82     BOXREADY,
  83     BOXLAPTIMERRESET,
  84     CHECKBOX_ITEM_COUNT
  85 } boxId_e;
  86
  87 typedef enum {
  88     MODELOGIC_OR = 0,
  89     MODELOGIC_AND
  90 } modeLogic_e;
  91
  92 // type to hold enough bits for CHECKBOX_ITEM_COUNT. Struct used for value-like behavior
  93 typedef struct boxBitmask_s { uint32_t bits[(CHECKBOX_ITEM_COUNT + 31) / 32]; } boxBitmask_t;
  94
  95 #define MAX_MODE_ACTIVATION_CONDITION_COUNT 20
  96
  97 #define CHANNEL_RANGE_MIN 900
  98 #define CHANNEL_RANGE_MAX 2100
  99
 100 #define MODE_STEP_TO_CHANNEL_VALUE(step) (CHANNEL_RANGE_MIN + 25 * step)
 101 #define CHANNEL_VALUE_TO_STEP(channelValue) ((constrain(channelValue, CHANNEL_RANGE_MIN, CHANNEL_RANGE_MAX) - CHANNEL_RANGE_MIN) / 25)
 102
 103 #define MIN_MODE_RANGE_STEP 0
 104 #define MAX_MODE_RANGE_STEP ((CHANNEL_RANGE_MAX - CHANNEL_RANGE_MIN) / 25)
 105
 106 // steps are 25 apart
 107 // a value of 0 corresponds to a channel value of 900 or less
 108 // a value of 48 corresponds to a channel value of 2100 or more
 109 // 48 steps between 900 and 2100
 110 typedef struct channelRange_s {
 111     uint8_t startStep;
 112     uint8_t endStep;
 113 } channelRange_t;
 114
 115 typedef struct modeActivationCondition_s {
 116     boxId_e modeId;
 117     uint8_t auxChannelIndex;
 118     channelRange_t range;
 119     modeLogic_e modeLogic;
 120     boxId_e linkedTo;
 121 } modeActivationCondition_t;
 122
 123 PG_DECLARE_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions);
 124
 125 #if defined(USE_CUSTOM_BOX_NAMES)
 126
 127 #define MAX_BOX_USER_NAME_LENGTH 16
 128 #define BOX_USER_NAME_COUNT      4
 129 STATIC_ASSERT(BOXUSER4 + 1 - BOXUSER1 == BOX_USER_NAME_COUNT, "Invalid BOX_USER_NAME_COUNT");
 130 typedef struct modeActivationConfig_s {
 131     char box_user_names[BOX_USER_NAME_COUNT][MAX_BOX_USER_NAME_LENGTH];
 132 } modeActivationConfig_t;
 133
 134 PG_DECLARE(modeActivationConfig_t, modeActivationConfig);
 135 #endif
 136
 137 typedef struct modeActivationProfile_s {
 138     modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
 139 } modeActivationProfile_t;
 140
 141 #define IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep)
 142
 143 bool IS_RC_MODE_ACTIVE(boxId_e boxId);
 144 void rcModeUpdate(const boxBitmask_t *newState);
 145
 146 bool isAirmodeEnabled(void);
 147
 148 bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range);
 149 void updateActivatedModes(void);
 150 bool isModeActivationConditionPresent(boxId_e modeId);
 151 bool isModeActivationConditionLinked(boxId_e modeId);
 152 void removeModeActivationCondition(boxId_e modeId);
 153 bool isModeActivationConditionConfigured(const modeActivationCondition_t *mac, const modeActivationCondition_t *emptyMac);
 154 void analyzeModeActivationConditions(void);