betaflight/src/main/fc/rc_modes.h

/*
 * This file is part of Cleanflight and Betaflight.
 *
 * Cleanflight and Betaflight are free software. You can redistribute
 * this software and/or modify this software 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 and Betaflight are distributed in the hope that they
 * 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 this software.
 *
 * If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once

#include <stdbool.h>

#include "pg/pg.h"

#define BOXID_NONE 255

typedef enum {
    // ARM flag
    BOXARM = 0,
    // FLIGHT_MODE
    BOXANGLE,
    BOXHORIZON,
    BOXMAG,
    BOXALTHOLD,
    BOXHEADFREE,
    BOXCHIRP,
    BOXPASSTHRU,
    BOXFAILSAFE,
    BOXPOSHOLD,
    BOXGPSRESCUE,
    BOXID_FLIGHTMODE_LAST = BOXGPSRESCUE,

// When new flight modes are added, the parameter group version for 'modeActivationConditions' in src/main/fc/rc_modes.c has to be incremented to ensure that the RC modes configuration is reset.

    // RCMODE flags
    BOXANTIGRAVITY,
    BOXHEADADJ,
    BOXCAMSTAB,
    BOXBEEPERON,
    BOXLEDLOW,
    BOXCALIB,
    BOXOSD,
    BOXTELEMETRY,
    BOXSERVO1,
    BOXSERVO2,
    BOXSERVO3,
    BOXBLACKBOX,
    BOXAIRMODE,
    BOX3D,
    BOXFPVANGLEMIX,
    BOXBLACKBOXERASE,
    BOXCAMERA1,
    BOXCAMERA2,
    BOXCAMERA3,
    BOXCRASHFLIP,
    BOXPREARM,
    BOXBEEPGPSCOUNT,
    BOXVTXPITMODE,
    BOXPARALYZE,
    BOXUSER1,
    BOXUSER2,
    BOXUSER3,
    BOXUSER4,
    BOXPIDAUDIO,
    BOXACROTRAINER,
    BOXVTXCONTROLDISABLE,
    BOXLAUNCHCONTROL,
    BOXMSPOVERRIDE,
    BOXSTICKCOMMANDDISABLE,
    BOXBEEPERMUTE,
    BOXREADY,
    BOXLAPTIMERRESET,
    CHECKBOX_ITEM_COUNT
} boxId_e;

typedef enum {
    MODELOGIC_OR = 0,
    MODELOGIC_AND
} modeLogic_e;

// type to hold enough bits for CHECKBOX_ITEM_COUNT. Struct used for value-like behavior
typedef struct boxBitmask_s { uint32_t bits[(CHECKBOX_ITEM_COUNT + 31) / 32]; } boxBitmask_t;

#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)

// 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 2100
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;
    modeLogic_e modeLogic;
    boxId_e linkedTo;
} modeActivationCondition_t;

PG_DECLARE_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions);

#if defined(USE_CUSTOM_BOX_NAMES)

#define MAX_BOX_USER_NAME_LENGTH 16
#define BOX_USER_NAME_COUNT      4
STATIC_ASSERT(BOXUSER4 + 1 - BOXUSER1 == BOX_USER_NAME_COUNT, "Invalid BOX_USER_NAME_COUNT");
typedef struct modeActivationConfig_s {
    char box_user_names[BOX_USER_NAME_COUNT][MAX_BOX_USER_NAME_LENGTH];
} modeActivationConfig_t;

PG_DECLARE(modeActivationConfig_t, modeActivationConfig);
#endif

typedef struct modeActivationProfile_s {
    modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
} modeActivationProfile_t;

#define IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep)

bool IS_RC_MODE_ACTIVE(boxId_e boxId);
void rcModeUpdate(const boxBitmask_t *newState);

bool isAirmodeEnabled(void);

bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range);
void updateActivatedModes(void);
bool isModeActivationConditionPresent(boxId_e modeId);
bool isModeActivationConditionLinked(boxId_e modeId);
void removeModeActivationCondition(boxId_e modeId);
bool isModeActivationConditionConfigured(const modeActivationCondition_t *mac, const modeActivationCondition_t *emptyMac);
void analyzeModeActivationConditions(void);