src/main/fc/runtime_config.h

   1 /*
   2  * This file is part of Cleanflight.
   3  *
   4  * Cleanflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Cleanflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #pragma once
  19
  20 // FIXME some of these are flight modes, some of these are general status indicators
  21 typedef enum {
  22     OK_TO_ARM       = (1 << 0),
  23     PREVENT_ARMING  = (1 << 1),
  24     ARMED           = (1 << 2),
  25     WAS_EVER_ARMED  = (1 << 3)
  26 } armingFlag_e;
  27
  28 extern uint8_t armingFlags;
  29
  30 #define DISABLE_ARMING_FLAG(mask) (armingFlags &= ~(mask))
  31 #define ENABLE_ARMING_FLAG(mask) (armingFlags |= (mask))
  32 #define ARMING_FLAG(mask) (armingFlags & (mask))
  33
  34 typedef enum {
  35     ANGLE_MODE      = (1 << 0),
  36     HORIZON_MODE    = (1 << 1),
  37     MAG_MODE        = (1 << 2),
  38     BARO_MODE       = (1 << 3),
  39     GPS_HOME_MODE   = (1 << 4),
  40     GPS_HOLD_MODE   = (1 << 5),
  41     HEADFREE_MODE   = (1 << 6),
  42     UNUSED_MODE     = (1 << 7), // old autotune
  43     PASSTHRU_MODE   = (1 << 8),
  44     SONAR_MODE      = (1 << 9),
  45     FAILSAFE_MODE   = (1 << 10)
  46 } flightModeFlags_e;
  47
  48 extern uint16_t flightModeFlags;
  49
  50 #define DISABLE_FLIGHT_MODE(mask) disableFlightMode(mask)
  51 #define ENABLE_FLIGHT_MODE(mask) enableFlightMode(mask)
  52 #define FLIGHT_MODE(mask) (flightModeFlags & (mask))
  53
  54 // macro to initialize map from flightModeFlags to boxId_e. Keep it in sync with flightModeFlags_e enum.
  55 // Each boxId_e is at index of flightModeFlags_e bit, value is -1 if boxId_e does not exist.
  56 // It is much more memory efficient than full map (uint32_t -> uint8_t)
  57 #define FLIGHT_MODE_BOXID_MAP_INITIALIZER {                             \
  58         BOXANGLE, BOXHORIZON, BOXMAG, BOXBARO, BOXGPSHOME, BOXGPSHOLD,  \
  59         BOXHEADFREE, -1, BOXPASSTHRU, BOXSONAR, BOXFAILSAFE}  \
  60         /**/
  61
  62 typedef enum {
  63     GPS_FIX_HOME   = (1 << 0),
  64     GPS_FIX        = (1 << 1),
  65     CALIBRATE_MAG  = (1 << 2),
  66     SMALL_ANGLE    = (1 << 3),
  67     FIXED_WING     = (1 << 4)                    // set when in flying_wing or airplane mode. currently used by althold selection code
  68 } stateFlags_t;
  69
  70 #define DISABLE_STATE(mask) (stateFlags &= ~(mask))
  71 #define ENABLE_STATE(mask) (stateFlags |= (mask))
  72 #define STATE(mask) (stateFlags & (mask))
  73
  74 extern uint8_t stateFlags;
  75
  76 uint16_t enableFlightMode(flightModeFlags_e mask);
  77 uint16_t disableFlightMode(flightModeFlags_e mask);
  78
  79 bool sensors(uint32_t mask);
  80 void sensorsSet(uint32_t mask);
  81 void sensorsClear(uint32_t mask);
  82 uint32_t sensorsMask(void);
  83
  84 void mwDisarm(void);