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", "KILLSW", "RX",
  38     "THR", "CLI", "CMS", "OSD", "ROLL/PITCH", "AUTOTRIM", "OOM",
  39     "SETTINGFAIL", "PWMOUT"
  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_BOXKILLSWITCH,
  54     ARMING_DISABLED_THROTTLE,
  55     ARMING_DISABLED_CLI,
  56     ARMING_DISABLED_CMS_MENU,
  57     ARMING_DISABLED_OSD_MENU,
  58     ARMING_DISABLED_ROLLPITCH_NOT_CENTERED,
  59     ARMING_DISABLED_SERVO_AUTOTRIM,
  60     ARMING_DISABLED_OOM
  61 };
  62
  63 armingFlag_e isArmingDisabledReason(void)
  64 {
  65     // Shortcut, if we don't block arming at all
  66     if (!isArmingDisabled()) {
  67         return 0;
  68     }
  69
  70     armingFlag_e reasons = armingFlags & ARMING_DISABLED_ALL_FLAGS;
  71
  72     // First check for "more important reasons"
  73     for (unsigned ii = 0; ii < ARRAYLEN(armDisableReasonsChecklist); ii++) {
  74         armingFlag_e flag = armDisableReasonsChecklist[ii];
  75         if (flag & reasons) {
  76             return flag;
  77         }
  78     }
  79
  80     // Fallback, we ended up with a blocker flag not included in armDisableReasonsChecklist[]
  81     for (unsigned ii = 0; ii < sizeof(armingFlag_e) * 8; ii++) {
  82         armingFlag_e flag = 1u << ii;
  83         if (flag & reasons) {
  84             return flag;
  85         }
  86     }
  87
  88     return 0;
  89 }
  90
  91 /**
  92  * Enables the given flight mode.  A beep is sounded if the flight mode
  93  * has changed.  Returns the new 'flightModeFlags' value.
  94  */
  95 uint32_t enableFlightMode(flightModeFlags_e mask)
  96 {
  97     uint32_t oldVal = flightModeFlags;
  98
  99     flightModeFlags |= (mask);
 100     if (flightModeFlags != oldVal)
 101         beeperConfirmationBeeps(1);
 102     return flightModeFlags;
 103 }
 104
 105 /**
 106  * Disables the given flight mode.  A beep is sounded if the flight mode
 107  * has changed.  Returns the new 'flightModeFlags' value.
 108  */
 109 uint32_t disableFlightMode(flightModeFlags_e mask)
 110 {
 111     uint32_t oldVal = flightModeFlags;
 112
 113     flightModeFlags &= ~(mask);
 114     if (flightModeFlags != oldVal)
 115         beeperConfirmationBeeps(1);
 116     return flightModeFlags;
 117 }
 118
 119 bool sensors(uint32_t mask)
 120 {
 121     return enabledSensors & mask;
 122 }
 123
 124 void sensorsSet(uint32_t mask)
 125 {
 126     enabledSensors |= mask;
 127 }
 128
 129 void sensorsClear(uint32_t mask)
 130 {
 131     enabledSensors &= ~(mask);
 132 }
 133
 134 uint32_t sensorsMask(void)
 135 {
 136     return enabledSensors;
 137 }
 138
 139 flightModeForTelemetry_e getFlightModeForTelemetry(void)
 140 {
 141     if (FLIGHT_MODE(FAILSAFE_MODE))
 142         return FLM_FAILSAFE;
 143
 144     if (FLIGHT_MODE(MANUAL_MODE))
 145         return FLM_MANUAL;
 146
 147     if (FLIGHT_MODE(NAV_RTH_MODE))
 148         return FLM_RTH;
 149
 150     if (FLIGHT_MODE(NAV_POSHOLD_MODE))
 151         return FLM_POSITION_HOLD;
 152
 153     if (FLIGHT_MODE(NAV_CRUISE_MODE))
 154         return FLM_CRUISE;
 155
 156     if (FLIGHT_MODE(NAV_WP_MODE))
 157         return FLM_MISSION;
 158
 159     if (FLIGHT_MODE(NAV_ALTHOLD_MODE))
 160         return FLM_ALTITUDE_HOLD;
 161
 162     if (FLIGHT_MODE(ANGLE_MODE))
 163         return FLM_ANGLE;
 164
 165     if (FLIGHT_MODE(HORIZON_MODE))
 166         return FLM_HORIZON;
 167
 168     if (FLIGHT_MODE(NAV_LAUNCH_MODE))
 169         return FLM_LAUNCH;
 170
 171     return STATE(AIRMODE_ACTIVE) ? FLM_ACRO_AIR : FLM_ACRO;
 172 }