src/main/fc/config.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 <stdint.h>
  21 #include <stdbool.h>
  22 #include "common/axis.h"
  23 #include "common/time.h"
  24 #include "config/parameter_group.h"
  25 #include "drivers/adc.h"
  26 #include "fc/stats.h"
  27
  28 #define MAX_PROFILE_COUNT 3
  29 #define ONESHOT_FEATURE_CHANGED_DELAY_ON_BOOT_MS 1500
  30 #define MAX_NAME_LENGTH 16
  31
  32 #define TASK_GYRO_LOOPTIME 250 // Task gyro always runs at 4kHz
  33
  34 typedef enum {
  35     FEATURE_THR_VBAT_COMP = 1 << 0,
  36     FEATURE_VBAT = 1 << 1,
  37     FEATURE_TX_PROF_SEL = 1 << 2,       // Profile selection by TX stick command
  38     FEATURE_BAT_PROFILE_AUTOSWITCH = 1 << 3,
  39     FEATURE_UNUSED_12 = 1 << 4,  //was FEATURE_MOTOR_STOP
  40     FEATURE_UNUSED_1 = 1 << 5,   // was FEATURE_SERVO_TILT was FEATURE_DYNAMIC_FILTERS
  41     FEATURE_SOFTSERIAL = 1 << 6,
  42     FEATURE_GPS = 1 << 7,
  43     FEATURE_UNUSED_3 = 1 << 8,        // was FEATURE_FAILSAFE
  44     FEATURE_UNUSED_4 = 1 << 9,          // was FEATURE_SONAR
  45     FEATURE_TELEMETRY = 1 << 10,
  46     FEATURE_CURRENT_METER = 1 << 11,
  47     FEATURE_REVERSIBLE_MOTORS = 1 << 12,
  48     FEATURE_UNUSED_5 = 1 << 13,         // RX_PARALLEL_PWM
  49     FEATURE_UNUSED_6 = 1 << 14,         // RX_MSP
  50     FEATURE_RSSI_ADC = 1 << 15,
  51     FEATURE_LED_STRIP = 1 << 16,
  52     FEATURE_DASHBOARD = 1 << 17,
  53     FEATURE_UNUSED_7 = 1 << 18,         // Unused in INAV
  54     FEATURE_BLACKBOX = 1 << 19,
  55     FEATURE_UNUSED_10 = 1 << 20,        // was FEATURE_CHANNEL_FORWARDING
  56     FEATURE_TRANSPONDER = 1 << 21,
  57     FEATURE_AIRMODE = 1 << 22,
  58     FEATURE_SUPEREXPO_RATES = 1 << 23,
  59     FEATURE_VTX = 1 << 24,
  60     FEATURE_UNUSED_8 = 1 << 25,         // RX_SPI
  61     FEATURE_UNUSED_9 = 1 << 26,         // SOFTSPI
  62     FEATURE_UNUSED_11 = 1 << 27,        // FEATURE_PWM_SERVO_DRIVER
  63     FEATURE_PWM_OUTPUT_ENABLE = 1 << 28,
  64     FEATURE_OSD = 1 << 29,
  65     FEATURE_FW_LAUNCH = 1 << 30,
  66     FEATURE_FW_AUTOTRIM = 1 << 31,
  67 } features_e;
  68
  69 typedef struct systemConfig_s {
  70     uint8_t current_profile_index;
  71     uint8_t current_battery_profile_index;
  72     uint8_t current_mixer_profile_index;
  73     uint8_t debug_mode;
  74 #ifdef USE_DEV_TOOLS
  75     bool groundTestMode;                    // Disables motor ouput, sets heading trusted on FW (for dev use)
  76 #endif
  77 #ifdef USE_I2C
  78     uint8_t i2c_speed;
  79 #endif
  80     uint8_t throttle_tilt_compensation_strength;    // the correction that will be applied at throttle_correction_angle.
  81     char craftName[MAX_NAME_LENGTH + 1];
  82     char pilotName[MAX_NAME_LENGTH + 1];
  83 } systemConfig_t;
  84
  85 PG_DECLARE(systemConfig_t, systemConfig);
  86
  87 typedef struct beeperConfig_s {
  88     uint32_t beeper_off_flags;
  89     uint32_t preferred_beeper_off_flags;
  90     bool dshot_beeper_enabled;
  91     uint8_t dshot_beeper_tone;
  92     bool pwmMode;
  93 } beeperConfig_t;
  94
  95 PG_DECLARE(beeperConfig_t, beeperConfig);
  96
  97 typedef struct adcChannelConfig_s {
  98     uint8_t adcFunctionChannel[ADC_FUNCTION_COUNT];
  99 } adcChannelConfig_t;
 100
 101 PG_DECLARE(adcChannelConfig_t, adcChannelConfig);
 102
 103
 104 #ifdef USE_STATS
 105 PG_DECLARE(statsConfig_t, statsConfig);
 106 #endif
 107
 108 void beeperOffSet(uint32_t mask);
 109 void beeperOffSetAll(uint8_t beeperCount);
 110 void beeperOffClear(uint32_t mask);
 111 void beeperOffClearAll(void);
 112 uint32_t getBeeperOffMask(void);
 113 void setBeeperOffMask(uint32_t mask);
 114 uint32_t getPreferredBeeperOffMask(void);
 115 void setPreferredBeeperOffMask(uint32_t mask);
 116
 117 void copyCurrentProfileToProfileSlot(uint8_t profileSlotIndex);
 118
 119 void initEEPROM(void);
 120 void resetEEPROM(void);
 121 void readEEPROM(void);
 122 void writeEEPROM(void);
 123 void ensureEEPROMContainsValidData(void);
 124 void processDelayedSave(void);
 125
 126 void saveConfig(void);
 127 void saveConfigAndNotify(void);
 128 void validateAndFixConfig(void);
 129 void validateAndFixTargetConfig(void);
 130
 131 uint8_t getConfigProfile(void);
 132 bool setConfigProfile(uint8_t profileIndex);
 133 void setConfigProfileAndWriteEEPROM(uint8_t profileIndex);
 134
 135 uint8_t getConfigBatteryProfile(void);
 136 bool setConfigBatteryProfile(uint8_t profileIndex);
 137 void setConfigBatteryProfileAndWriteEEPROM(uint8_t profileIndex);
 138
 139 uint8_t getConfigMixerProfile(void);
 140 bool setConfigMixerProfile(uint8_t profileIndex);
 141 void setConfigMixerProfileAndWriteEEPROM(uint8_t profileIndex);
 142
 143 void setGyroCalibration(float getGyroZero[XYZ_AXIS_COUNT]);
 144 void setGravityCalibration(float getGravity);
 145
 146 bool canSoftwareSerialBeUsed(void);
 147 void applyAndSaveBoardAlignmentDelta(int16_t roll, int16_t pitch);
 148
 149 void createDefaultConfig(void);
 150 void resetConfigs(void);
 151 void targetConfiguration(void);
 152
 153 uint32_t getLooptime(void);
 154 uint32_t getGyroLooptime(void);