mirror of
https://github.com/betaflight/betaflight.git
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132 lines
4.9 KiB
C
132 lines
4.9 KiB
C
/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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// FIXME some of these are flight modes, some of these are general status indicators
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typedef enum {
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ARMED = (1 << 0),
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WAS_EVER_ARMED = (1 << 1),
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WAS_ARMED_WITH_PREARM = (1 << 2)
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} armingFlag_e;
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extern uint8_t armingFlags;
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#define DISABLE_ARMING_FLAG(mask) (armingFlags &= ~(mask))
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#define ENABLE_ARMING_FLAG(mask) (armingFlags |= (mask))
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#define ARMING_FLAG(mask) (armingFlags & (mask))
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/*
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* Arming disable flags are listed in the order of criticalness.
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* (Beeper code can notify the most critical reason.)
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*/
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typedef enum {
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ARMING_DISABLED_NO_GYRO = (1 << 0),
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ARMING_DISABLED_FAILSAFE = (1 << 1),
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ARMING_DISABLED_RX_FAILSAFE = (1 << 2),
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ARMING_DISABLED_BAD_RX_RECOVERY = (1 << 3),
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ARMING_DISABLED_BOXFAILSAFE = (1 << 4),
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ARMING_DISABLED_RUNAWAY_TAKEOFF = (1 << 5),
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ARMING_DISABLED_THROTTLE = (1 << 6),
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ARMING_DISABLED_ANGLE = (1 << 7),
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ARMING_DISABLED_BOOT_GRACE_TIME = (1 << 8),
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ARMING_DISABLED_NOPREARM = (1 << 9),
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ARMING_DISABLED_LOAD = (1 << 10),
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ARMING_DISABLED_CALIBRATING = (1 << 11),
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ARMING_DISABLED_CLI = (1 << 12),
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ARMING_DISABLED_CMS_MENU = (1 << 13),
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ARMING_DISABLED_OSD_MENU = (1 << 14),
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ARMING_DISABLED_BST = (1 << 15),
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ARMING_DISABLED_MSP = (1 << 16),
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ARMING_DISABLED_PARALYZE = (1 << 17),
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ARMING_DISABLED_GPS = (1 << 18),
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ARMING_DISABLED_ARM_SWITCH = (1 << 19), // Needs to be the last element, since it's always activated if one of the others is active when arming
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} armingDisableFlags_e;
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#define ARMING_DISABLE_FLAGS_COUNT 20
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extern const char *armingDisableFlagNames[ARMING_DISABLE_FLAGS_COUNT];
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void setArmingDisabled(armingDisableFlags_e flag);
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void unsetArmingDisabled(armingDisableFlags_e flag);
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bool isArmingDisabled(void);
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armingDisableFlags_e getArmingDisableFlags(void);
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typedef enum {
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ANGLE_MODE = (1 << 0),
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HORIZON_MODE = (1 << 1),
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MAG_MODE = (1 << 2),
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BARO_MODE = (1 << 3),
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GPS_HOME_MODE = (1 << 4),
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GPS_HOLD_MODE = (1 << 5),
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HEADFREE_MODE = (1 << 6),
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UNUSED_MODE = (1 << 7), // old autotune
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PASSTHRU_MODE = (1 << 8),
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RANGEFINDER_MODE= (1 << 9),
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FAILSAFE_MODE = (1 << 10),
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GPS_RESCUE_MODE = (1 << 11)
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} flightModeFlags_e;
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extern uint16_t flightModeFlags;
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#define DISABLE_FLIGHT_MODE(mask) disableFlightMode(mask)
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#define ENABLE_FLIGHT_MODE(mask) enableFlightMode(mask)
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#define FLIGHT_MODE(mask) (flightModeFlags & (mask))
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// macro to initialize map from boxId_e to log2(flightModeFlags). Keep it in sync with flightModeFlags_e enum.
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// [BOXARM] is left unpopulated
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#define BOXID_TO_FLIGHT_MODE_MAP_INITIALIZER { \
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[BOXANGLE] = LOG2(ANGLE_MODE), \
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[BOXHORIZON] = LOG2(HORIZON_MODE), \
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[BOXMAG] = LOG2(MAG_MODE), \
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[BOXBARO] = LOG2(BARO_MODE), \
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[BOXGPSHOME] = LOG2(GPS_HOME_MODE), \
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[BOXGPSHOLD] = LOG2( GPS_HOLD_MODE), \
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[BOXHEADFREE] = LOG2(HEADFREE_MODE), \
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[BOXPASSTHRU] = LOG2(PASSTHRU_MODE), \
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[BOXRANGEFINDER] = LOG2(RANGEFINDER_MODE), \
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[BOXFAILSAFE] = LOG2(FAILSAFE_MODE), \
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[BOXGPSRESCUE] = LOG2(GPS_RESCUE_MODE), \
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} \
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/**/
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typedef enum {
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GPS_FIX_HOME = (1 << 0),
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GPS_FIX = (1 << 1),
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CALIBRATE_MAG = (1 << 2),
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SMALL_ANGLE = (1 << 3),
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FIXED_WING = (1 << 4) // set when in flying_wing or airplane mode. currently used by althold selection code
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} stateFlags_t;
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#define DISABLE_STATE(mask) (stateFlags &= ~(mask))
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#define ENABLE_STATE(mask) (stateFlags |= (mask))
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#define STATE(mask) (stateFlags & (mask))
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extern uint8_t stateFlags;
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uint16_t enableFlightMode(flightModeFlags_e mask);
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uint16_t disableFlightMode(flightModeFlags_e mask);
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bool sensors(uint32_t mask);
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void sensorsSet(uint32_t mask);
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void sensorsClear(uint32_t mask);
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uint32_t sensorsMask(void);
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void mwDisarm(void);
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