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     BOXSURFACE       = 24,
  53     BOXFLAPERON      = 25,
  54     BOXTURNASSIST    = 26,
  55     BOXAUTOTRIM      = 27,
  56     BOXAUTOTUNE      = 28,
  57     BOXCAMERA1       = 29,
  58     BOXCAMERA2       = 30,
  59     BOXCAMERA3       = 31,
  60     BOXOSDALT1       = 32,
  61     BOXOSDALT2       = 33,
  62     BOXOSDALT3       = 34,
  63     BOXNAVCOURSEHOLD = 35,
  64     BOXBRAKING       = 36,
  65     BOXUSER1         = 37,
  66     BOXUSER2         = 38,
  67     BOXFPVANGLEMIX   = 39,
  68     BOXLOITERDIRCHN  = 40,
  69     BOXMSPRCOVERRIDE = 41,
  70     BOXPREARM        = 42,
  71     BOXTURTLE        = 43,
  72     BOXNAVCRUISE     = 44,
  73     BOXAUTOLEVEL     = 45,
  74     BOXPLANWPMISSION = 46,
  75     BOXSOARING       = 47,
  76     BOXUSER3         = 48,
  77     BOXUSER4         = 49,
  78     BOXCHANGEMISSION = 50,
  79     BOXBEEPERMUTE    = 51,
  80     BOXMULTIFUNCTION = 52,
  81     BOXMIXERPROFILE  = 53,
  82     BOXMIXERTRANSITION = 54,
  83     BOXANGLEHOLD     = 55,
  84     BOXGIMBALTLOCK   = 56,
  85     BOXGIMBALRLOCK   = 57,
  86     BOXGIMBALCENTER  = 58,
  87     BOXGIMBALHTRK    = 59,
  88     CHECKBOX_ITEM_COUNT
  89 } boxId_e;
  90
  91 // type to hold enough bits for CHECKBOX_ITEM_COUNT. Struct used for value-like behavior
  92 typedef struct boxBitmask_s { BITARRAY_DECLARE(bits, CHECKBOX_ITEM_COUNT); } boxBitmask_t;
  93
  94 #define MAX_MODE_ACTIVATION_CONDITION_COUNT 40
  95
  96 #define CHANNEL_RANGE_MIN 900
  97 #define CHANNEL_RANGE_MAX 2100
  98
  99 #define CHANNEL_RANGE_STEP_WIDTH 25
 100
 101 #define MODE_STEP_TO_CHANNEL_VALUE(step) (CHANNEL_RANGE_MIN + CHANNEL_RANGE_STEP_WIDTH * step)
 102 #define CHANNEL_VALUE_TO_STEP(channelValue) ((constrain(channelValue, CHANNEL_RANGE_MIN, CHANNEL_RANGE_MAX) - CHANNEL_RANGE_MIN) / CHANNEL_RANGE_STEP_WIDTH)
 103
 104 #define MIN_MODE_RANGE_STEP 0
 105 #define MAX_MODE_RANGE_STEP ((CHANNEL_RANGE_MAX - CHANNEL_RANGE_MIN) / CHANNEL_RANGE_STEP_WIDTH)
 106
 107 #define IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep)
 108
 109 // steps are 25 apart
 110 // a value of 0 corresponds to a channel value of 900 or less
 111 // a value of 48 corresponds to a channel value of 2100 or more
 112 // 48 steps between 900 and 1200
 113 typedef struct channelRange_s {
 114     uint8_t startStep;
 115     uint8_t endStep;
 116 } channelRange_t;
 117
 118 typedef struct modeActivationCondition_s {
 119     boxId_e modeId;
 120     uint8_t auxChannelIndex;
 121     channelRange_t range;
 122 } modeActivationCondition_t;
 123
 124 typedef enum {
 125     MODE_OPERATOR_OR, // default
 126     MODE_OPERATOR_AND
 127 } modeActivationOperator_e;
 128
 129 typedef struct modeActivationOperatorConfig_s {
 130     modeActivationOperator_e modeActivationOperator;
 131 } modeActivationOperatorConfig_t;
 132
 133 PG_DECLARE_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions);
 134 PG_DECLARE(modeActivationOperatorConfig_t, modeActivationOperatorConfig);
 135
 136 bool IS_RC_MODE_ACTIVE(boxId_e boxId);
 137 void rcModeUpdate(boxBitmask_t *newState);
 138
 139 bool isModeActivationConditionPresent(boxId_e modeId);
 140
 141 void processAirmode(void);
 142 bool isUsingNavigationModes(void);
 143 bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range);
 144
 145 void updateActivatedModes(void);
 146 void updateUsedModeActivationConditionFlags(void);
 147 bool isFwAutoModeActive(boxId_e mode);