src/main/fc/runtime_config.c

   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 #include <stdbool.h>
  19 #include <stdint.h>
  20
  21 #include "platform.h"
  22
  23 #include "common/utils.h"
  24 #include "fc/runtime_config.h"
  25
  26 #include "io/beeper.h"
  27
  28 EXTENDED_FASTRAM uint32_t armingFlags = 0;
  29 EXTENDED_FASTRAM uint32_t stateFlags = 0;
  30 EXTENDED_FASTRAM uint32_t flightModeFlags = 0;
  31
  32 static EXTENDED_FASTRAM uint32_t enabledSensors = 0;
  33
  34 #if !defined(CLI_MINIMAL_VERBOSITY)
  35 const char *armingDisableFlagNames[]= {
  36     "FS", "ANGLE", "CAL", "OVRLD", "NAV", "COMPASS",
  37     "ACC", "ARMSW", "HWFAIL", "BOXFS", "RX",
  38     "THR", "CLI", "CMS", "OSD", "ROLL/PITCH", "AUTOTRIM", "OOM",
  39     "SETTINGFAIL", "PWMOUT", "NOPREARM", "DSHOTBEEPER", "LANDED"
  40 };
  41 #endif
  42
  43 const armingFlag_e armDisableReasonsChecklist[] = {
  44     ARMING_DISABLED_INVALID_SETTING,
  45     ARMING_DISABLED_HARDWARE_FAILURE,
  46     ARMING_DISABLED_PWM_OUTPUT_ERROR,
  47     ARMING_DISABLED_COMPASS_NOT_CALIBRATED,
  48     ARMING_DISABLED_ACCELEROMETER_NOT_CALIBRATED,
  49     ARMING_DISABLED_RC_LINK,
  50     ARMING_DISABLED_NAVIGATION_UNSAFE,
  51     ARMING_DISABLED_ARM_SWITCH,
  52     ARMING_DISABLED_BOXFAILSAFE,
  53     ARMING_DISABLED_THROTTLE,
  54     ARMING_DISABLED_CLI,
  55     ARMING_DISABLED_CMS_MENU,
  56     ARMING_DISABLED_OSD_MENU,
  57     ARMING_DISABLED_ROLLPITCH_NOT_CENTERED,
  58     ARMING_DISABLED_SERVO_AUTOTRIM,
  59     ARMING_DISABLED_OOM,
  60     ARMING_DISABLED_NO_PREARM,
  61     ARMING_DISABLED_DSHOT_BEEPER
  62 };
  63
  64 armingFlag_e isArmingDisabledReason(void)
  65 {
  66     // Shortcut, if we don't block arming at all
  67     if (!isArmingDisabled()) {
  68         return 0;
  69     }
  70
  71     armingFlag_e reasons = armingFlags & ARMING_DISABLED_ALL_FLAGS;
  72
  73     // First check for "more important reasons"
  74     for (unsigned ii = 0; ii < ARRAYLEN(armDisableReasonsChecklist); ii++) {
  75         armingFlag_e flag = armDisableReasonsChecklist[ii];
  76         if (flag & reasons) {
  77             return flag;
  78         }
  79     }
  80
  81     // Fallback, we ended up with a blocker flag not included in armDisableReasonsChecklist[]
  82     for (unsigned ii = 0; ii < sizeof(armingFlag_e) * 8; ii++) {
  83         armingFlag_e flag = 1u << ii;
  84         if (flag & reasons) {
  85             return flag;
  86         }
  87     }
  88
  89     return 0;
  90 }
  91
  92 /**
  93  * Called at Rx update rate. Beeper sounded if flight mode state has changed.
  94  */
  95 void updateFlightModeChangeBeeper(void)
  96 {
  97     static uint32_t previousFlightModeFlags = 0;
  98
  99     if (flightModeFlags != previousFlightModeFlags) {
 100         beeperConfirmationBeeps(1);
 101     }
 102     previousFlightModeFlags = flightModeFlags;
 103 }
 104
 105 bool sensors(uint32_t mask)
 106 {
 107     return enabledSensors & mask;
 108 }
 109
 110 void sensorsSet(uint32_t mask)
 111 {
 112     enabledSensors |= mask;
 113 }
 114
 115 void sensorsClear(uint32_t mask)
 116 {
 117     enabledSensors &= ~(mask);
 118 }
 119
 120 uint32_t sensorsMask(void)
 121 {
 122     return enabledSensors;
 123 }
 124
 125 flightModeForTelemetry_e getFlightModeForTelemetry(void)
 126 {
 127     if (FLIGHT_MODE(FAILSAFE_MODE))
 128         return FLM_FAILSAFE;
 129
 130     if (FLIGHT_MODE(MANUAL_MODE))
 131         return FLM_MANUAL;
 132
 133     if (FLIGHT_MODE(NAV_LAUNCH_MODE))
 134         return FLM_LAUNCH;
 135
 136     if (FLIGHT_MODE(NAV_RTH_MODE))
 137         return FLM_RTH;
 138
 139     if (FLIGHT_MODE(NAV_POSHOLD_MODE))
 140         return FLM_POSITION_HOLD;
 141
 142     if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE) && FLIGHT_MODE(NAV_ALTHOLD_MODE))
 143         return FLM_CRUISE;
 144
 145     if (FLIGHT_MODE(NAV_COURSE_HOLD_MODE))
 146         return FLM_COURSE_HOLD;
 147
 148     if (FLIGHT_MODE(NAV_WP_MODE))
 149         return FLM_MISSION;
 150
 151     if (FLIGHT_MODE(NAV_ALTHOLD_MODE))
 152         return FLM_ALTITUDE_HOLD;
 153
 154     if (FLIGHT_MODE(ANGLE_MODE))
 155         return FLM_ANGLE;
 156
 157     if (FLIGHT_MODE(HORIZON_MODE))
 158         return FLM_HORIZON;
 159
 160     if (FLIGHT_MODE(ANGLEHOLD_MODE))
 161         return FLM_ANGLEHOLD;
 162
 163     return STATE(AIRMODE_ACTIVE) ? FLM_ACRO_AIR : FLM_ACRO;
 164 }
 165
 166 #ifdef USE_SIMULATOR
 167 simulatorData_t simulatorData = {
 168     .flags = 0,
 169     .debugIndex = 0,
 170     .vbat = 0
 171 };
 172 #endif