171 lines
6.0 KiB
C
171 lines
6.0 KiB
C
/*
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* failsafe_toggles.h
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*
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* Created on: 10 okt. 2016
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* Author: holmis
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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 2 //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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//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_flightMode_1_id 5 + boolean_vals_offset
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#define systemFlags_flightMode_2_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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//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_flightMode_1_mask getFlagMaskValue(systemFlags_flightMode_1_id)
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#define systemFlags_flightMode_2_mask getFlagMaskValue(systemFlags_flightMode_2_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 flightMode_1 : 1;
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booleanValue_t flightMode_2 : 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_FLIGHTMODE_1,
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FLAG_CONFIGURATION_FLIGHTMODE_2,
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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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/* Stuct 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:
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* INFORMATION:
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***********************************************************************/
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void initFlags();
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/***********************************************************************
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* BRIEF:
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* INFORMATION:
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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:
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* INFORMATION:
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***********************************************************************/
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void flags_Set_ID(int id);
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/***********************************************************************
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* BRIEF:
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* INFORMATION:
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***********************************************************************/
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void flags_Clear_ID(int id);
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/***********************************************************************
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* BRIEF:
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* INFORMATION:
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***********************************************************************/
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void flags_Toggle_ID(int id);
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/***********************************************************************
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* BRIEF:
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* INFORMATION:
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***********************************************************************/
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bool flags_IsSet_ID(int id);
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/***********************************************************************
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* BRIEF:
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* INFORMATION:
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***********************************************************************/
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void flags_Set_MASK(int mask);
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/***********************************************************************
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* BRIEF:
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* INFORMATION:
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***********************************************************************/
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void flags_Clear_MASK(int mask);
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/***********************************************************************
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* BRIEF:
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* INFORMATION:
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***********************************************************************/
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void flags_Toggle_MASK(int mask);
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/***********************************************************************
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* BRIEF:
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* INFORMATION:
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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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