201 lines
8.8 KiB
C
201 lines
8.8 KiB
C
/**********************************************************************
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* NAME: failsafe_toggles.h *
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* AUTHOR: Jonas Holmberg *
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* PURPOSE: Give the ability to create boolean flags and failsafe *
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* variables. *
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* INFORMATION: Create any boolean variable that should be able to be *
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* used throughout the system. These can be boolean vales *
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* for standard checks, failsafes etc. These can also be *
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* linked to a RC channel and value range wherein the *
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* value will be set to one. *
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* *
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* GLOBAL VARIABLES: *
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* Variable Type Description *
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* -------- ---- ----------- *
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* systemFlags boolFlags_t Represents a bitfield of all the *
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* boolean values in the system. *
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* flagConfigArr flags_Configuration_t Configuration values for any *
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* flag that should be changeable *
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* from the RC controller. *
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**********************************************************************/
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#ifndef DRIVERS_FAILSAFE_TOGGLES_H_
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#define DRIVERS_FAILSAFE_TOGGLES_H_
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#include "stdint.h"
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//Macro functions
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#define getFlagMaskValue(x) (1 << x)
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#define failSafe_vals_offset 0 //offset for the fail safe values in the bitfield
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#define boolean_vals_offset 3 //offset for the booleans values in the bitfield
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/*If a new value is added to the bitfield these IDs must be reviewed and checkd so that they still are correct*/
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//failsafe values
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#define systemFlags_Failsafe_rcChannelInRange_id 0 + failSafe_vals_offset
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#define systemFlags_Failsafe_noRcReceived_id 1 + failSafe_vals_offset
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#define systemFlags_Failsafe_toManyMissedFrames_id 2 + failSafe_vals_offset
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//other flags
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#define systemFlags_armed_id 0 + boolean_vals_offset
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#define systemFlags_flightmode_acceleromter_id 1 + boolean_vals_offset
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#define systemFlags_flightmode_barometer_id 2 + boolean_vals_offset
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#define systemFlags_flightmode_compass_id 3 + boolean_vals_offset
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#define systemFlags_flightmode_gps_id 4 + boolean_vals_offset
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#define systemFlags_mixerfullscale_id 5 + boolean_vals_offset
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#define systemFlags_mixerlowscale_id 6 + boolean_vals_offset
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#define systemFlags_flightMode_3_id 7 + boolean_vals_offset
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/*Mask values for each of the flag values*/
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//failsafe values
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#define systemFlags_Failsafe_rcChannelInRange_mask getFlagMaskValue(systemFlags_Failsafe_rcChannelInRange_id)
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#define systemFlags_Failsafe_noRcReceived_mask getFlagMaskValue(systemFlags_Failsafe_noRcReceived_id)
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#define systemFlags_Failsafe_toManyMissedFrames_mask getFlagMaskValue(systemFlags_Failsafe_toManyMissedFrames_id)
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//other flags
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#define systemFlags_armed_mask getFlagMaskValue(systemFlags_armed_id)
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#define systemFlags_flightmode_acceleromter_mask getFlagMaskValue(systemFlags_flightmode_acceleromter_id)
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#define systemFlags_flightmode_barometer_mask getFlagMaskValue(systemFlags_flightmode_barometer_id)
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#define systemFlags_flightmode_compass_mask getFlagMaskValue(systemFlags_flightmode_compass_id)
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#define systemFlags_flightmode_gps_mask getFlagMaskValue(systemFlags_flightmode_gps_id)
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#define systemFlags_mixerfullscale_mask getFlagMaskValue(systemFlags_mixerfullscale_id)
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#define systemFlags_mixerlowscale_mask getFlagMaskValue(systemFlags_mixerlowscale_id)
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#define systemFlags_flightMode_3_mask getFlagMaskValue(systemFlags_flightMode_3_id)
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//typedef for the boolean value
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typedef unsigned int booleanValue_t;
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/* Struct containing all the failsafe on boolean values in the system */
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typedef union bitSetRegion
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{
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struct
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{
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//fail-safe booleans
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booleanValue_t rcChannelInRange : 1;
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booleanValue_t noRcReceived : 1;
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//Flag boleans that are not fail-safe
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booleanValue_t armed : 1;
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booleanValue_t acceleromter : 1;
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booleanValue_t barometer : 1;
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booleanValue_t compass : 1;
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booleanValue_t gps : 1;
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booleanValue_t mixerfullscale : 1;
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booleanValue_t mixerlowscale : 1;
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booleanValue_t flightMode_3 : 1;
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}bitField;
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uint64_t intRepresentation;
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}boolFlags_t;
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/* Stuct to define values that can be changed and manipulated by RC commands */
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typedef struct
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{
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uint16_t minRange; //minimum range value in a RC channel (uint16 to save space, increase if higher ranges are needed)
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uint16_t maxRange; //maximum range value in a RC channel (uint16 to save space, increase if higher ranges are needed)
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uint8_t channelNumber; //The RC channel number for the value
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uint8_t flagId; //ID for the flag to be changed in the system
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}flags_Configuration_t;
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typedef enum
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{
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FLAG_CONFIGURATION_ARM = 0,
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FLAG_CONFIGURATION_FLIGHTMODE_ACCELEROMETER,
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FLAG_CONFIGURATION_FLIGHTMODE_BAROMETER,
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FLAG_CONFIGURATION_FLIGHTMODE_COMPASS,
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FLAG_CONFIGURATION_FLIGHTMODE_GPS,
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FLAG_CONFIGURATION_MIXERFULLSCALE,
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FLAG_CONFIGURATION_MIXERLOWSCALE,
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FLAG_CONFIGURATION_FLIGHTMODE_3,
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//Counter
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FLAG_CONFIGURATION_COUNT
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}flags_configuration_IDs_t;
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/* Bitfield containing values for all the flags and failsafe booleans sin the system */
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extern boolFlags_t systemFlags;
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/* Array of flag configurations. These are values that can be set by RC. */
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extern flags_Configuration_t flagConfigArr[FLAG_CONFIGURATION_COUNT];
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/***********************************************************************
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* BRIEF: Could be used to set start values for some values
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* INFORMATION: Possible to set the values for any of the failsafes
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***********************************************************************/
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void initFlags();
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/***********************************************************************
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* BRIEF: Process RC channels that should operate on some flags
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* INFORMATION: Reads the value of the RC channels that and checks if
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* any of the channels should handle some flag value in the
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* system. If it should it will update its state.
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***********************************************************************/
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void flags_ProcessRcChannel(int rcChannel_ID, int value);
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/***********************************************************************
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* BRIEF: Process RC channels that should operate on some flags
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* INFORMATION: Reads the value of the RC channels that and checks if
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* any of the channels should handle some flag value in the
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* system. If it should it will update its state.
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***********************************************************************/
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void flags_ProcessRcChannel_Improved(uint8_t minChannel, uint8_t maxChannel);
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/***********************************************************************
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* BRIEF: Set flag to true(1)
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* INFORMATION: Given an id set that value to true
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***********************************************************************/
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void flags_Set_ID(int id);
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/***********************************************************************
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* BRIEF: Set flag to false(0)
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* INFORMATION: Given an id set that value to false
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***********************************************************************/
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void flags_Clear_ID(int id);
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/***********************************************************************
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* BRIEF: Toggle a flag
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* INFORMATION: Given an id changes the current value of a flag to its
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* opposite.
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***********************************************************************/
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void flags_Toggle_ID(int id);
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/***********************************************************************
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* BRIEF: Checks if a flag is set
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* INFORMATION: Given an id value, check if that is set to true in the
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* bitfield
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***********************************************************************/
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bool flags_IsSet_ID(int id);
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/***********************************************************************
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* BRIEF: Set flag to true(1)
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* INFORMATION: Given a mask set that value to true
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***********************************************************************/
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void flags_Set_MASK(int mask);
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/***********************************************************************
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* BRIEF: Set flag to false(0)
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* INFORMATION: Given a mask set that value to false
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***********************************************************************/
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void flags_Clear_MASK(int mask);
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/***********************************************************************
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* BRIEF: Toggle a flag
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* INFORMATION: Given a mask changes the current value of a flag to its
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* opposite.
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***********************************************************************/
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void flags_Toggle_MASK(int mask);
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/***********************************************************************
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* BRIEF: Checks if a flag is set
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* INFORMATION: Given a mask value, check if that is set to true in the
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* bitfield
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***********************************************************************/
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bool flags_IsSet_MASK(int mask);
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#endif /* DRIVERS_FAILSAFE_TOGGLES_H_ */
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