src/main/fc/multifunction.c

   1 /*
   2  * This file is part of INAV Project.
   3  *
   4  * This Source Code Form is subject to the terms of the Mozilla Public
   5  * License, v. 2.0. If a copy of the MPL was not distributed with this file,
   6  * You can obtain one at http://mozilla.org/MPL/2.0/.
   7  *
   8  * Alternatively, the contents of this file may be used under the terms
   9  * of the GNU General Public License Version 3, as described below:
  10  *
  11  * This file is free software: you may copy, redistribute and/or modify
  12  * it under the terms of the GNU General Public License as published by the
  13  * Free Software Foundation, either version 3 of the License, or (at your
  14  * option) any later version.
  15  *
  16  * This file is distributed in the hope that it will be useful, but
  17  * WITHOUT ANY WARRANTY; without even the implied warranty of
  18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
  19  * Public License for more details.
  20  *
  21  * You should have received a copy of the GNU General Public License
  22  * along with this program. If not, see http://www.gnu.org/licenses/.
  23  */
  24
  25 #include "platform.h"
  26 #include "build/debug.h"
  27 #include "drivers/time.h"
  28
  29 #ifdef USE_MULTI_FUNCTIONS
  30
  31 #include "fc/fc_core.h"
  32 #include "fc/multifunction.h"
  33 #include "fc/rc_modes.h"
  34 #include "fc/runtime_config.h"
  35
  36 #include "io/osd.h"
  37 #include "navigation/navigation.h"
  38
  39 multi_function_e selectedItem = MULTI_FUNC_NONE;
  40 uint8_t multiFunctionFlags;
  41 bool nextItemIsAvailable = false;
  42
  43 static void multiFunctionApply(multi_function_e selectedItem)
  44 {
  45     switch (selectedItem) {
  46     case MULTI_FUNC_NONE:
  47         break;
  48     case MULTI_FUNC_1:  // redisplay current warnings
  49         osdResetWarningFlags();
  50         break;
  51     case MULTI_FUNC_2:  // control manual emergency landing
  52         checkManualEmergencyLandingControl(ARMING_FLAG(ARMED));
  53         break;
  54     case MULTI_FUNC_3:  // toggle Safehome suspend
  55 #if defined(USE_SAFE_HOME)
  56         if (navConfig()->general.flags.safehome_usage_mode != SAFEHOME_USAGE_OFF) {
  57             MULTI_FUNC_FLAG(MF_SUSPEND_SAFEHOMES) ? MULTI_FUNC_FLAG_DISABLE(MF_SUSPEND_SAFEHOMES) : MULTI_FUNC_FLAG_ENABLE(MF_SUSPEND_SAFEHOMES);
  58         }
  59 #endif
  60         break;
  61     case MULTI_FUNC_4:  // toggle RTH Trackback suspend
  62         if (navConfig()->general.flags.rth_trackback_mode != RTH_TRACKBACK_OFF) {
  63             MULTI_FUNC_FLAG(MF_SUSPEND_TRACKBACK) ? MULTI_FUNC_FLAG_DISABLE(MF_SUSPEND_TRACKBACK) : MULTI_FUNC_FLAG_ENABLE(MF_SUSPEND_TRACKBACK);
  64         }
  65         break;
  66     case MULTI_FUNC_5:
  67 #ifdef USE_DSHOT
  68         if (STATE(MULTIROTOR)) {    // toggle Turtle mode
  69             MULTI_FUNC_FLAG(MF_TURTLE_MODE) ? MULTI_FUNC_FLAG_DISABLE(MF_TURTLE_MODE) : MULTI_FUNC_FLAG_ENABLE(MF_TURTLE_MODE);
  70         }
  71 #endif
  72         break;
  73     case MULTI_FUNC_6:  // emergency ARM
  74         if (!ARMING_FLAG(ARMED)) {
  75             emergencyArmingUpdate(true, true);
  76         }
  77     case MULTI_FUNC_END:
  78         break;
  79     }
  80 }
  81
  82 bool isNextMultifunctionItemAvailable(void)
  83 {
  84     return nextItemIsAvailable;
  85 }
  86
  87 void setMultifunctionSelection(multi_function_e item)
  88 {
  89     selectedItem = item == MULTI_FUNC_END ? MULTI_FUNC_1 : item;
  90     nextItemIsAvailable = false;
  91 }
  92
  93 multi_function_e multiFunctionSelection(void)
  94 {
  95     static timeMs_t startTimer;
  96     static timeMs_t selectTimer;
  97     static bool toggle = true;
  98     const timeMs_t currentTime = millis();
  99
 100     if (IS_RC_MODE_ACTIVE(BOXMULTIFUNCTION)) {
 101         if (selectTimer) {
 102             if (currentTime - selectTimer > 3000) {     // 3s selection duration to activate selected function
 103                 multiFunctionApply(selectedItem);
 104                 selectTimer = 0;
 105                 selectedItem = MULTI_FUNC_NONE;
 106                 nextItemIsAvailable = false;
 107             }
 108         } else if (toggle) {
 109             if (selectedItem == MULTI_FUNC_NONE) {
 110                 selectedItem++;
 111             } else {
 112                 selectTimer = currentTime;
 113                 nextItemIsAvailable = true;
 114             }
 115         }
 116         startTimer = currentTime;
 117         toggle = false;
 118     } else if (startTimer) {
 119         if (!toggle && selectTimer) {
 120             setMultifunctionSelection(++selectedItem);
 121         }
 122         if (currentTime - startTimer > 4000) {      // 4s reset delay after mode deselected
 123             startTimer = 0;
 124             selectedItem = MULTI_FUNC_NONE;
 125         }
 126         selectTimer = 0;
 127         toggle = true;
 128     }
 129
 130     return selectedItem;
 131 }
 132 #endif