src/main/programming/global_functions.h

   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 #pragma once
  25
  26 #include "config/parameter_group.h"
  27 #include "programming/logic_condition.h"
  28
  29 #define MAX_GLOBAL_FUNCTIONS 8
  30
  31 typedef enum {
  32     GLOBAL_FUNCTION_ACTION_OVERRIDE_ARMING_SAFETY = 0,      // 0
  33     GLOBAL_FUNCTION_ACTION_OVERRIDE_THROTTLE_SCALE,         // 1
  34     GLOBAL_FUNCTION_ACTION_SWAP_ROLL_YAW,                   // 2
  35     GLOBAL_FUNCTION_ACTION_SET_VTX_POWER_LEVEL,             // 3
  36     GLOBAL_FUNCTION_ACTION_INVERT_ROLL,                     // 4
  37     GLOBAL_FUNCTION_ACTION_INVERT_PITCH,                    // 5
  38     GLOBAL_FUNCTION_ACTION_INVERT_YAW,                      // 6
  39     GLOBAL_FUNCTION_ACTION_OVERRIDE_THROTTLE,               // 7
  40     GLOBAL_FUNCTION_ACTION_SET_VTX_BAND,                    // 8
  41     GLOBAL_FUNCTION_ACTION_SET_VTX_CHANNEL,                 // 9
  42     GLOBAL_FUNCTION_ACTION_LAST
  43 } globalFunctionActions_e;
  44
  45 typedef enum {
  46     GLOBAL_FUNCTION_FLAG_OVERRIDE_ARMING_SAFETY = (1 << 0),
  47     GLOBAL_FUNCTION_FLAG_OVERRIDE_THROTTLE_SCALE = (1 << 1),
  48     GLOBAL_FUNCTION_FLAG_OVERRIDE_SWAP_ROLL_YAW = (1 << 2),
  49     GLOBAL_FUNCTION_FLAG_OVERRIDE_INVERT_ROLL = (1 << 3),
  50     GLOBAL_FUNCTION_FLAG_OVERRIDE_INVERT_PITCH = (1 << 4),
  51     GLOBAL_FUNCTION_FLAG_OVERRIDE_INVERT_YAW = (1 << 5),
  52     GLOBAL_FUNCTION_FLAG_OVERRIDE_THROTTLE = (1 << 6),
  53 } globalFunctionFlags_t;
  54
  55 typedef struct globalFunction_s {
  56     uint8_t enabled;
  57     int8_t conditionId;
  58     uint8_t action;
  59     logicOperand_t withValue;
  60     uint8_t flags;
  61 } globalFunction_t;
  62
  63 typedef struct globalFunctionState_s {
  64     uint8_t active;
  65     int value;
  66     uint8_t flags;
  67 } globalFunctionState_t;
  68
  69 extern uint64_t globalFunctionsFlags;
  70
  71 #define GLOBAL_FUNCTION_FLAG_DISABLE(mask) (globalFunctionsFlags &= ~(mask))
  72 #define GLOBAL_FUNCTION_FLAG_ENABLE(mask) (globalFunctionsFlags |= (mask))
  73 #define GLOBAL_FUNCTION_FLAG(mask) (globalFunctionsFlags & (mask))
  74
  75 PG_DECLARE_ARRAY(globalFunction_t, MAX_GLOBAL_FUNCTIONS, globalFunctions);
  76 extern int globalFunctionValues[GLOBAL_FUNCTION_ACTION_LAST];
  77
  78 void globalFunctionsUpdateTask(timeUs_t currentTimeUs);
  79 float getThrottleScale(float globalThrottleScale);
  80 int16_t getRcCommandOverride(int16_t command[], uint8_t axis);