/*
 * failsafe_toggles.h
 *
 *  Created on: 10 okt. 2016
 *      Author: holmis
 */

#ifndef DRIVERS_FAILSAFE_TOGGLES_H_
#define DRIVERS_FAILSAFE_TOGGLES_H_

#include "stdint.h"

//Macro functions
#define getFlagMaskValue(x)							(1 << x)

#define failSafe_vals_offset 						0		//offset for the fail safe values in the bitfield
#define boolean_vals_offset							2		//offset for the booleans values in the bitfield

/*If a new value is added to the bitfield these IDs must be reviewed and checkd so that they still are correct*/
//failsafe values
#define systemFlags_Failsafe_rcChannelInRange_id	0	+ failSafe_vals_offset
#define systemFlags_Failsafe_noRcReceived_id		1	+ failSafe_vals_offset

//other flags
#define systemFlags_armed_id						0	+ boolean_vals_offset
#define systemFlags_flightmode_acceleromter_id	 	1	+ boolean_vals_offset
#define systemFlags_flightmode_barometer_id	 		2	+ boolean_vals_offset
#define systemFlags_flightmode_compass_id	 		3	+ boolean_vals_offset
#define systemFlags_flightmode_gps_id		 		4	+ boolean_vals_offset
#define systemFlags_flightMode_1_id					5	+ boolean_vals_offset
#define systemFlags_flightMode_2_id					6	+ boolean_vals_offset
#define systemFlags_flightMode_3_id					7	+ boolean_vals_offset


/*Mask values for each of the flag values*/
//failsafe values
#define systemFlags_Failsafe_rcChannelInRange_mask	getFlagMaskValue(systemFlags_Failsafe_rcChannelInRange_id)
#define systemFlags_Failsafe_noRcReceived_mask		getFlagMaskValue(systemFlags_Failsafe_noRcReceived_id)

//other flags
#define systemFlags_armed_mask						getFlagMaskValue(systemFlags_armed_id)
#define systemFlags_flightmode_acceleromter_mask	getFlagMaskValue(systemFlags_flightmode_acceleromter_id)
#define systemFlags_flightmode_barometer_mask	 	getFlagMaskValue(systemFlags_flightmode_barometer_id)
#define systemFlags_flightmode_compass_mask	 		getFlagMaskValue(systemFlags_flightmode_compass_id)
#define systemFlags_flightmode_gps_mask		 		getFlagMaskValue(systemFlags_flightmode_gps_id)
#define systemFlags_flightMode_1_mask				getFlagMaskValue(systemFlags_flightMode_1_id)
#define systemFlags_flightMode_2_mask				getFlagMaskValue(systemFlags_flightMode_2_id)
#define systemFlags_flightMode_3_mask				getFlagMaskValue(systemFlags_flightMode_3_id)



//typedef for the boolean value
typedef unsigned int booleanValue_t;

/* Struct containing all the failsafe on boolean values in the system */
typedef union bitSetRegion
{
	struct
	{
		//fail-safe booleans
		booleanValue_t rcChannelInRange 	: 1;
		booleanValue_t noRcReceived			: 1;

		//Flag boleans that are not fail-safe
		booleanValue_t armed 				: 1;
		booleanValue_t acceleromter 		: 1;
		booleanValue_t barometer 			: 1;
		booleanValue_t compass 				: 1;
		booleanValue_t gps	 				: 1;
		booleanValue_t flightMode_1			: 1;
		booleanValue_t flightMode_2			: 1;
		booleanValue_t flightMode_3			: 1;
	}bitField;
	uint64_t intRepresentation;
}boolFlags_t;

/* Stuct to define values that can be changed and manipulated by RC commands  */
typedef struct
{
	uint16_t minRange;			//minimum range value in a RC channel (uint16 to save space, increase if higher ranges are needed)
	uint16_t maxRange;			//maximum range value in a RC channel (uint16 to save space, increase if higher ranges are needed)
	uint8_t channelNumber;		//The RC channel number for the value
	uint8_t flagId;				//ID for the flag to be changed in the system
}flags_Configuration_t;

typedef enum
{
	FLAG_CONFIGURATION_ARM = 0,
	FLAG_CONFIGURATION_FLIGHTMODE_ACCELEROMETER,
	FLAG_CONFIGURATION_FLIGHTMODE_BAROMETER,
	FLAG_CONFIGURATION_FLIGHTMODE_COMPASS,
	FLAG_CONFIGURATION_FLIGHTMODE_GPS,
	FLAG_CONFIGURATION_FLIGHTMODE_1,
	FLAG_CONFIGURATION_FLIGHTMODE_2,
	FLAG_CONFIGURATION_FLIGHTMODE_3,

	//Counter
	FLAG_CONFIGURATION_COUNT
}flags_configuration_IDs_t;

/* Stuct containing values for all the flags and failsafe booleans sin the system */
extern boolFlags_t systemFlags;

/* Array of flag configurations. These are values that can be set by RC. */
extern flags_Configuration_t flagConfigArr[FLAG_CONFIGURATION_COUNT];

/***********************************************************************
* BRIEF:
* INFORMATION:
***********************************************************************/
void initFlags();

/***********************************************************************
* BRIEF:
* INFORMATION:
***********************************************************************/
void flags_ProcessRcChannel(int rcChannel_ID, int value);

/***********************************************************************
* BRIEF:
* INFORMATION:
***********************************************************************/
void flags_Set_ID(int id);

/***********************************************************************
* BRIEF:
* INFORMATION:
***********************************************************************/
void flags_Clear_ID(int id);

/***********************************************************************
* BRIEF:
* INFORMATION:
***********************************************************************/
void flags_Toggle_ID(int id);

/***********************************************************************
* BRIEF:
* INFORMATION:
***********************************************************************/
bool flags_IsSet_ID(int id);

/***********************************************************************
* BRIEF:
* INFORMATION:
***********************************************************************/
void flags_Set_MASK(int mask);

/***********************************************************************
* BRIEF:
* INFORMATION:
***********************************************************************/
void flags_Clear_MASK(int mask);

/***********************************************************************
* BRIEF:
* INFORMATION:
***********************************************************************/
void flags_Toggle_MASK(int mask);

/***********************************************************************
* BRIEF:
* INFORMATION:
***********************************************************************/
bool flags_IsSet_MASK(int mask);




#endif /* DRIVERS_FAILSAFE_TOGGLES_H_ */