src/main/fc/rc_modes.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 #include <stdbool.h>
  21
  22 #include "common/bitarray.h"
  23
  24 #include "config/parameter_group.h"
  25
  26 #define BOXID_NONE 255
  27
  28 typedef enum {
  29     BOXARM           = 0,
  30     BOXANGLE         = 1,
  31     BOXHORIZON       = 2,
  32     BOXNAVALTHOLD    = 3,    // old BOXBARO
  33     BOXHEADINGHOLD   = 4,    // old MAG
  34     BOXHEADFREE      = 5,
  35     BOXHEADADJ       = 6,
  36     BOXCAMSTAB       = 7,
  37     BOXNAVRTH        = 8,    // old GPSHOME
  38     BOXNAVPOSHOLD    = 9,    // old GPSHOLD
  39     BOXMANUAL        = 10,
  40     BOXBEEPERON      = 11,
  41     BOXLEDLOW        = 12,
  42     BOXLIGHTS        = 13,
  43     BOXNAVLAUNCH     = 14,
  44     BOXOSD           = 15,
  45     BOXTELEMETRY     = 16,
  46     BOXBLACKBOX      = 17,
  47     BOXFAILSAFE      = 18,
  48     BOXNAVWP         = 19,
  49     BOXAIRMODE       = 20,
  50     BOXHOMERESET     = 21,
  51     BOXGCSNAV        = 22,
  52     BOXKILLSWITCH    = 23,   // old HEADING LOCK
  53     BOXSURFACE       = 24,
  54     BOXFLAPERON      = 25,
  55     BOXTURNASSIST    = 26,
  56     BOXAUTOTRIM      = 27,
  57     BOXAUTOTUNE      = 28,
  58     BOXCAMERA1       = 29,
  59     BOXCAMERA2       = 30,
  60     BOXCAMERA3       = 31,
  61     BOXOSDALT1       = 32,
  62     BOXOSDALT2       = 33,
  63     BOXOSDALT3       = 34,
  64     BOXNAVCOURSEHOLD = 35,
  65     BOXBRAKING       = 36,
  66     BOXUSER1         = 37,
  67     BOXUSER2         = 38,
  68     BOXFPVANGLEMIX   = 39,
  69     BOXLOITERDIRCHN  = 40,
  70     BOXMSPRCOVERRIDE = 41,
  71     BOXPREARM        = 42,
  72     BOXTURTLE        = 43,
  73     BOXNAVCRUISE     = 44,
  74     BOXAUTOLEVEL     = 45,
  75     BOXPLANWPMISSION = 46,
  76     BOXSOARING       = 47,
  77     BOXUSER3         = 48,
  78     BOXUSER4         = 49,
  79     BOXCHANGEMISSION = 50,
  80     CHECKBOX_ITEM_COUNT
  81 } boxId_e;
  82
  83 // type to hold enough bits for CHECKBOX_ITEM_COUNT. Struct used for value-like behavior
  84 typedef struct boxBitmask_s { BITARRAY_DECLARE(bits, CHECKBOX_ITEM_COUNT); } boxBitmask_t;
  85
  86 #define MAX_MODE_ACTIVATION_CONDITION_COUNT 40
  87
  88 #define CHANNEL_RANGE_MIN 900
  89 #define CHANNEL_RANGE_MAX 2100
  90
  91 #define CHANNEL_RANGE_STEP_WIDTH 25
  92
  93 #define MODE_STEP_TO_CHANNEL_VALUE(step) (CHANNEL_RANGE_MIN + CHANNEL_RANGE_STEP_WIDTH * step)
  94 #define CHANNEL_VALUE_TO_STEP(channelValue) ((constrain(channelValue, CHANNEL_RANGE_MIN, CHANNEL_RANGE_MAX) - CHANNEL_RANGE_MIN) / CHANNEL_RANGE_STEP_WIDTH)
  95
  96 #define MIN_MODE_RANGE_STEP 0
  97 #define MAX_MODE_RANGE_STEP ((CHANNEL_RANGE_MAX - CHANNEL_RANGE_MIN) / CHANNEL_RANGE_STEP_WIDTH)
  98
  99 #define IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep)
 100
 101 // steps are 25 apart
 102 // a value of 0 corresponds to a channel value of 900 or less
 103 // a value of 48 corresponds to a channel value of 2100 or more
 104 // 48 steps between 900 and 1200
 105 typedef struct channelRange_s {
 106     uint8_t startStep;
 107     uint8_t endStep;
 108 } channelRange_t;
 109
 110 typedef struct modeActivationCondition_s {
 111     boxId_e modeId;
 112     uint8_t auxChannelIndex;
 113     channelRange_t range;
 114 } modeActivationCondition_t;
 115
 116 typedef enum {
 117     MODE_OPERATOR_OR, // default
 118     MODE_OPERATOR_AND
 119 } modeActivationOperator_e;
 120
 121 typedef struct modeActivationOperatorConfig_s {
 122     modeActivationOperator_e modeActivationOperator;
 123 } modeActivationOperatorConfig_t;
 124
 125 PG_DECLARE_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions);
 126 PG_DECLARE(modeActivationOperatorConfig_t, modeActivationOperatorConfig);
 127
 128 bool IS_RC_MODE_ACTIVE(boxId_e boxId);
 129 void rcModeUpdate(boxBitmask_t *newState);
 130
 131 bool isModeActivationConditionPresent(boxId_e modeId);
 132
 133 void processAirmode(void);
 134 bool isUsingNavigationModes(void);
 135 bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range);
 136
 137 void updateActivatedModes(void);
 138 void updateUsedModeActivationConditionFlags(void);