src/main/programming/logic_condition.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 "common/time.h"
  28
  29 #define MAX_LOGIC_CONDITIONS 16
  30
  31 typedef enum {
  32     LOGIC_CONDITION_TRUE = 0,       // 0
  33     LOGIC_CONDITION_EQUAL,          // 1
  34     LOGIC_CONDITION_GREATER_THAN,   // 2
  35     LOGIC_CONDITION_LOWER_THAN,     // 3
  36     LOGIC_CONDITION_LOW,            // 4
  37     LOGIC_CONDITION_MID,            // 5
  38     LOGIC_CONDITION_HIGH,           // 6
  39     LOGIC_CONDITION_AND,            // 7
  40     LOGIC_CONDITION_OR,             // 8
  41     LOGIC_CONDITION_XOR,            // 9
  42     LOGIC_CONDITION_NAND,           // 10
  43     LOGIC_CONDITION_NOR,            // 11
  44     LOGIC_CONDITION_NOT,            // 12
  45     LOGIC_CONDITION_STICKY,         // 13
  46     LOGIC_CONDITION_ADD,            // 14
  47     LOGIC_CONDITION_SUB,            // 15
  48     LOGIC_CONDITION_MUL,            // 16
  49     LOGIC_CONDITION_DIV,            // 17
  50     LOGIC_CONDITION_GVAR_SET,       // 18
  51     LOGIC_CONDITION_GVAR_INC,       // 19
  52     LOGIC_CONDITION_GVAR_DEC,       // 20
  53     LOGIC_CONDITION_LAST
  54 } logicOperation_e;
  55
  56 typedef enum logicOperandType_s {
  57     LOGIC_CONDITION_OPERAND_TYPE_VALUE = 0,
  58     LOGIC_CONDITION_OPERAND_TYPE_RC_CHANNEL,
  59     LOGIC_CONDITION_OPERAND_TYPE_FLIGHT,
  60     LOGIC_CONDITION_OPERAND_TYPE_FLIGHT_MODE,
  61     LOGIC_CONDITION_OPERAND_TYPE_LC,    // Result of different LC and LC operand
  62     LOGIC_CONDITION_OPERAND_TYPE_GVAR,  // Value from a global variable
  63     LOGIC_CONDITION_OPERAND_TYPE_LAST
  64 } logicOperandType_e;
  65
  66 typedef enum {
  67     LOGIC_CONDITION_OPERAND_FLIGHT_ARM_TIMER = 0, // in s                   // 0
  68     LOGIC_CONDITION_OPERAND_FLIGHT_HOME_DISTANCE, //in m                    // 1
  69     LOGIC_CONDITION_OPERAND_FLIGHT_TRIP_DISTANCE, //in m                    // 2
  70     LOGIC_CONDITION_OPERAND_FLIGHT_RSSI,                                    // 3
  71     LOGIC_CONDITION_OPERAND_FLIGHT_VBAT, // Volt / 10                       // 4
  72     LOGIC_CONDITION_OPERAND_FLIGHT_CELL_VOLTAGE, // Volt / 10               // 5
  73     LOGIC_CONDITION_OPERAND_FLIGHT_CURRENT, // Amp / 100                    // 6
  74     LOGIC_CONDITION_OPERAND_FLIGHT_MAH_DRAWN, // mAh                        // 7
  75     LOGIC_CONDITION_OPERAND_FLIGHT_GPS_SATS,                                // 8
  76     LOGIC_CONDITION_OPERAND_FLIGHT_GROUD_SPEED, // cm/s                     // 9
  77     LOGIC_CONDITION_OPERAND_FLIGHT_3D_SPEED, // cm/s                        // 10
  78     LOGIC_CONDITION_OPERAND_FLIGHT_AIR_SPEED, // cm/s                       // 11
  79     LOGIC_CONDITION_OPERAND_FLIGHT_ALTITUDE, // cm                          // 12
  80     LOGIC_CONDITION_OPERAND_FLIGHT_VERTICAL_SPEED, // cm/s                  // 13
  81     LOGIC_CONDITION_OPERAND_FLIGHT_TROTTLE_POS, // %                        // 14
  82     LOGIC_CONDITION_OPERAND_FLIGHT_ATTITUDE_ROLL, // deg                    // 15
  83     LOGIC_CONDITION_OPERAND_FLIGHT_ATTITUDE_PITCH, // deg                   // 16
  84     LOGIC_CONDITION_OPERAND_FLIGHT_IS_ARMED, // 0/1                         // 17
  85     LOGIC_CONDITION_OPERAND_FLIGHT_IS_AUTOLAUNCH, // 0/1                    // 18
  86     LOGIC_CONDITION_OPERAND_FLIGHT_IS_ALTITUDE_CONTROL, // 0/1              // 19
  87     LOGIC_CONDITION_OPERAND_FLIGHT_IS_POSITION_CONTROL, // 0/1              // 20
  88     LOGIC_CONDITION_OPERAND_FLIGHT_IS_EMERGENCY_LANDING, // 0/1             // 21
  89     LOGIC_CONDITION_OPERAND_FLIGHT_IS_RTH, // 0/1                           // 22
  90     LOGIC_CONDITION_OPERAND_FLIGHT_IS_WP, // 0/1                            // 23
  91     LOGIC_CONDITION_OPERAND_FLIGHT_IS_LANDING, // 0/1                       // 24
  92     LOGIC_CONDITION_OPERAND_FLIGHT_IS_FAILSAFE, // 0/1                      // 25
  93     LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_ROLL,                         // 26
  94     LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_PITCH,                        // 27
  95     LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_YAW,                          // 28
  96 } logicFlightOperands_e;
  97
  98 typedef enum {
  99     LOGIC_CONDITION_OPERAND_FLIGHT_MODE_FAILSAFE,
 100     LOGIC_CONDITION_OPERAND_FLIGHT_MODE_MANUAL,
 101     LOGIC_CONDITION_OPERAND_FLIGHT_MODE_RTH,
 102     LOGIC_CONDITION_OPERAND_FLIGHT_MODE_POSHOLD,
 103     LOGIC_CONDITION_OPERAND_FLIGHT_MODE_CRUISE,
 104     LOGIC_CONDITION_OPERAND_FLIGHT_MODE_ALTHOLD,
 105     LOGIC_CONDITION_OPERAND_FLIGHT_MODE_ANGLE,
 106     LOGIC_CONDITION_OPERAND_FLIGHT_MODE_HORIZON,
 107     LOGIC_CONDITION_OPERAND_FLIGHT_MODE_AIR,
 108 } logicFlightModeOperands_e;
 109
 110 typedef enum {
 111     LOGIC_CONDITION_FLAG_LATCH      = 1 << 0,
 112 } logicConditionFlags_e;
 113
 114 typedef struct logicOperand_s {
 115     logicOperandType_e type;
 116     int32_t value;
 117 } logicOperand_t;
 118
 119 typedef struct logicCondition_s {
 120     uint8_t enabled;
 121     int8_t activatorId;
 122     logicOperation_e operation;
 123     logicOperand_t operandA;
 124     logicOperand_t operandB;
 125     uint8_t flags;
 126 } logicCondition_t;
 127
 128 PG_DECLARE_ARRAY(logicCondition_t, MAX_LOGIC_CONDITIONS, logicConditions);
 129
 130 typedef struct logicConditionState_s {
 131     int value;
 132     uint8_t flags;
 133 } logicConditionState_t;
 134
 135 void logicConditionProcess(uint8_t i);
 136
 137 int logicConditionGetOperandValue(logicOperandType_e type, int operand);
 138
 139 int logicConditionGetValue(int8_t conditionId);
 140 void logicConditionUpdateTask(timeUs_t currentTimeUs);
 141 void logicConditionReset(void);