Directory rearrangement to reflect cleanflight changes

src/main/fc/rc_controls.h

@@ -0,0 +1,264 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+typedef enum {
+    BOXARM = 0,
+    BOXANGLE,
+    BOXHORIZON,
+    BOXBARO,
+    // BOXVARIO,
+    BOXMAG,
+    BOXHEADFREE,
+    BOXHEADADJ,
+    BOXCAMSTAB,
+    BOXCAMTRIG,
+    BOXGPSHOME,
+    BOXGPSHOLD,
+    BOXPASSTHRU,
+    BOXBEEPERON,
+    BOXLEDMAX,
+    BOXLEDLOW,
+    BOXLLIGHTS,
+    BOXCALIB,
+    BOXGOV,
+    BOXOSD,
+    BOXTELEMETRY,
+    BOXGTUNE,
+    BOXSONAR,
+    BOXSERVO1,
+    BOXSERVO2,
+    BOXSERVO3,
+    BOXBLACKBOX,
+    BOXFAILSAFE,
+    BOXAIRMODE,
+    BOX3DDISABLESWITCH,
+    BOXFPVANGLEMIX,
+    CHECKBOX_ITEM_COUNT
+} boxId_e;
+
+extern uint32_t rcModeActivationMask;
+
+#define IS_RC_MODE_ACTIVE(modeId) ((1 << (modeId)) & rcModeActivationMask)
+#define ACTIVATE_RC_MODE(modeId) (rcModeActivationMask |= (1 << modeId))
+
+typedef enum rc_alias {
+    ROLL = 0,
+    PITCH,
+    YAW,
+    THROTTLE,
+    AUX1,
+    AUX2,
+    AUX3,
+    AUX4,
+    AUX5,
+    AUX6,
+    AUX7,
+    AUX8
+} rc_alias_e;
+
+typedef enum {
+    THROTTLE_LOW = 0,
+    THROTTLE_HIGH
+} throttleStatus_e;
+
+#define AIRMODEDEADBAND 12
+
+typedef enum {
+    NOT_CENTERED = 0,
+    CENTERED
+} rollPitchStatus_e;
+
+typedef enum {
+    RC_SMOOTHING_OFF = 0,
+    RC_SMOOTHING_DEFAULT,
+    RC_SMOOTHING_AUTO,
+    RC_SMOOTHING_MANUAL
+} rcSmoothing_t;
+
+#define ROL_LO (1 << (2 * ROLL))
+#define ROL_CE (3 << (2 * ROLL))
+#define ROL_HI (2 << (2 * ROLL))
+#define PIT_LO (1 << (2 * PITCH))
+#define PIT_CE (3 << (2 * PITCH))
+#define PIT_HI (2 << (2 * PITCH))
+#define YAW_LO (1 << (2 * YAW))
+#define YAW_CE (3 << (2 * YAW))
+#define YAW_HI (2 << (2 * YAW))
+#define THR_LO (1 << (2 * THROTTLE))
+#define THR_CE (3 << (2 * THROTTLE))
+#define THR_HI (2 << (2 * THROTTLE))
+
+#define MAX_MODE_ACTIVATION_CONDITION_COUNT 20
+
+#define CHANNEL_RANGE_MIN 900
+#define CHANNEL_RANGE_MAX 2100
+
+#define MODE_STEP_TO_CHANNEL_VALUE(step) (CHANNEL_RANGE_MIN + 25 * step)
+#define CHANNEL_VALUE_TO_STEP(channelValue) ((constrain(channelValue, CHANNEL_RANGE_MIN, CHANNEL_RANGE_MAX) - CHANNEL_RANGE_MIN) / 25)
+
+#define MIN_MODE_RANGE_STEP 0
+#define MAX_MODE_RANGE_STEP ((CHANNEL_RANGE_MAX - CHANNEL_RANGE_MIN) / 25)
+
+// Roll/pitch rates are a proportion used for mixing, so it tops out at 1.0:
+#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX  100
+
+/* Meaningful yaw rates are effectively unbounded because they are treated as a rotation rate multiplier: */
+#define CONTROL_RATE_CONFIG_YAW_RATE_MAX         255
+
+#define CONTROL_RATE_CONFIG_TPA_MAX              100
+
+// steps are 25 apart
+// a value of 0 corresponds to a channel value of 900 or less
+// a value of 48 corresponds to a channel value of 2100 or more
+// 48 steps between 900 and 1200
+typedef struct channelRange_s {
+    uint8_t startStep;
+    uint8_t endStep;
+} channelRange_t;
+
+typedef struct modeActivationCondition_s {
+    boxId_e modeId;
+    uint8_t auxChannelIndex;
+    channelRange_t range;
+} modeActivationCondition_t;
+
+#define IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep)
+
+typedef struct controlRateConfig_s {
+    uint8_t rcRate8;
+    uint8_t rcYawRate8;
+    uint8_t rcExpo8;
+    uint8_t thrMid8;
+    uint8_t thrExpo8;
+    uint8_t rates[3];
+    uint8_t dynThrPID;
+    uint8_t rcYawExpo8;
+    uint16_t tpa_breakpoint;                // Breakpoint where TPA is activated
+} controlRateConfig_t;
+
+extern int16_t rcCommand[4];
+extern int16_t rcCommandSmooth[4];
+
+typedef struct rcControlsConfig_s {
+    uint8_t deadband;                       // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero.
+    uint8_t yaw_deadband;                   // introduce a deadband around the stick center for yaw axis. Must be greater than zero.
+    uint8_t alt_hold_deadband;              // defines the neutral zone of throttle stick during altitude hold, default setting is +/-40
+    uint8_t alt_hold_fast_change;           // when disabled, turn off the althold when throttle stick is out of deadband defined with alt_hold_deadband; when enabled, altitude changes slowly proportional to stick movement
+} rcControlsConfig_t;
+
+bool areUsingSticksToArm(void);
+
+bool areSticksInApModePosition(uint16_t ap_mode);
+struct rxConfig_s;
+throttleStatus_e calculateThrottleStatus(struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);
+void processRcStickPositions(struct rxConfig_s *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch);
+
+bool isRangeActive(uint8_t auxChannelIndex, channelRange_t *range);
+void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);
+
+
+typedef enum {
+    ADJUSTMENT_NONE = 0,
+    ADJUSTMENT_RC_RATE,
+    ADJUSTMENT_RC_EXPO,
+    ADJUSTMENT_THROTTLE_EXPO,
+    ADJUSTMENT_PITCH_ROLL_RATE,
+    ADJUSTMENT_YAW_RATE,
+    ADJUSTMENT_PITCH_ROLL_P,
+    ADJUSTMENT_PITCH_ROLL_I,
+    ADJUSTMENT_PITCH_ROLL_D,
+    ADJUSTMENT_YAW_P,
+    ADJUSTMENT_YAW_I,
+    ADJUSTMENT_YAW_D,
+    ADJUSTMENT_RATE_PROFILE,
+    ADJUSTMENT_PITCH_RATE,
+    ADJUSTMENT_ROLL_RATE,
+    ADJUSTMENT_PITCH_P,
+    ADJUSTMENT_PITCH_I,
+    ADJUSTMENT_PITCH_D,
+    ADJUSTMENT_ROLL_P,
+    ADJUSTMENT_ROLL_I,
+    ADJUSTMENT_ROLL_D,
+    ADJUSTMENT_FUNCTION_COUNT,
+
+} adjustmentFunction_e;
+
+
+typedef enum {
+    ADJUSTMENT_MODE_STEP,
+    ADJUSTMENT_MODE_SELECT
+} adjustmentMode_e;
+
+typedef struct adjustmentStepConfig_s {
+    uint8_t step;
+} adjustmentStepConfig_t;
+
+typedef struct adjustmentSelectConfig_s {
+    uint8_t switchPositions;
+} adjustmentSelectConfig_t;
+
+typedef union adjustmentConfig_u {
+    adjustmentStepConfig_t stepConfig;
+    adjustmentSelectConfig_t selectConfig;
+} adjustmentData_t;
+
+typedef struct adjustmentConfig_s {
+    uint8_t adjustmentFunction;
+    uint8_t mode;
+    adjustmentData_t data;
+} adjustmentConfig_t;
+
+typedef struct adjustmentRange_s {
+    // when aux channel is in range...
+    uint8_t auxChannelIndex;
+    channelRange_t range;
+
+    // ..then apply the adjustment function to the auxSwitchChannel ...
+    uint8_t adjustmentFunction;
+    uint8_t auxSwitchChannelIndex;
+
+    // ... via slot
+    uint8_t adjustmentIndex;
+} adjustmentRange_t;
+
+#define ADJUSTMENT_INDEX_OFFSET 1
+
+typedef struct adjustmentState_s {
+    uint8_t auxChannelIndex;
+    const adjustmentConfig_t *config;
+    uint32_t timeoutAt;
+} adjustmentState_t;
+
+
+#ifndef MAX_SIMULTANEOUS_ADJUSTMENT_COUNT
+#define MAX_SIMULTANEOUS_ADJUSTMENT_COUNT 4 // enough for 4 x 3position switches / 4 aux channel
+#endif
+
+#define MAX_ADJUSTMENT_RANGE_COUNT 15
+
+bool isAirmodeActive(void);
+bool isSuperExpoActive(void);
+void resetAdjustmentStates(void);
+void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
+void processRcAdjustments(controlRateConfig_t *controlRateConfig, struct rxConfig_s *rxConfig);
+
+bool isUsingSticksForArming(void);
+
+int32_t getRcStickDeflection(int32_t axis, uint16_t midrc);
+bool isModeActivationConditionPresent(modeActivationCondition_t *modeActivationConditions, boxId_e modeId);