rc.h

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/*
 * This file is part of Ninjaflight.
 *
 * Ninjaflight is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Ninjaflight is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Ninjaflight.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once

#include "../config/rx.h"
#include "../config/rc_controls.h"
#include "rc_command.h"
#include <stdbool.h>

typedef enum {
    // these keys are result of stick movement
    RC_KEY_IDLE,
    RC_KEY_GYROCAL,
    RC_KEY_ACCCAL,
    RC_KEY_MAGCAL,
    RC_KEY_ACC_INFLIGHT_CALIB,
    RC_KEY_PROFILE1,
    RC_KEY_PROFILE2,
    RC_KEY_PROFILE3,
    RC_KEY_SAVE,
    RC_KEY_STICK_ARM,
    RC_KEY_STICK_DISARM,
    RC_KEY_ACC_TRIM_PITCH_INC,
    RC_KEY_ACC_TRIM_PITCH_DEC,
    RC_KEY_ACC_TRIM_ROLL_INC,
    RC_KEY_ACC_TRIM_ROLL_DEC,
    RC_KEY_DISPLAY_OFF,
    RC_KEY_DISPLAY_ON,
    // following keys are related to range functions and do not generate repeat events
    RC_KEY_FUNC_LEVEL,
    RC_KEY_FUNC_ARM,            
    RC_KEY_FUNC_BLEND,
    RC_KEY_FUNC_ALTSTAB,
    RC_KEY_FUNC_HEADSTAB,
    RC_KEY_FUNC_HEADFIX,
    RC_KEY_FUNC_CALIBRATE,
    RC_KEY_FUNC_BEEPER,
    RC_NUM_KEYS
} rc_key_t;

typedef enum {
    RC_KEY_DISABLED, 
    RC_KEY_PRESSED, 
    RC_KEY_RELEASED 
} rc_key_state_t;

struct rc_event_listener {
    void (*on_key_state)(struct rc_event_listener *self, rc_key_t key, rc_key_state_t newstate);
    void (*on_key_repeat)(struct rc_event_listener *self, rc_key_t key, rc_key_state_t newstate);
};

struct rc {
    struct rc_command rc_command;
    uint32_t boxes;
    struct rx *rx;
    struct rc_event_listener *evl;
    uint8_t key_mask[RC_NUM_KEYS / 8 + 1];
    uint8_t key_enabled_mask[RC_NUM_KEYS / 8 + 1];
    uint32_t range_mask;

    const struct config *config;
};

typedef enum {
    THROTTLE_LOW = 0,
    THROTTLE_HIGH
} throttleStatus_e;

typedef enum {
    NOT_CENTERED = 0,
    CENTERED
} rollPitchStatus_e;

#define RC_KEY_REPEAT_MS 200

#define CHANNEL_RANGE_MIN 900
#define CHANNEL_RANGE_MAX 2100

#define MODE_STEP_TO_CHANNEL_VALUE(step) (CHANNEL_RANGE_MIN + 25 * (step))
#define CHANNEL_VALUE_TO_STEP(channelValue) ((constrain((channelValue), CHANNEL_RANGE_MIN, CHANNEL_RANGE_MAX) - CHANNEL_RANGE_MIN) / 25)

#define MIN_MODE_RANGE_STEP 0
#define MAX_MODE_RANGE_STEP ((CHANNEL_RANGE_MAX - CHANNEL_RANGE_MIN) / 25)

// Roll/pitch rates are a proportion used for mixing, so it tops out at 1.0:
#define CONTROL_RATE_CONFIG_ROLL_PITCH_RATE_MAX  100

/* Meaningful yaw rates are effectively unbounded because they are treated as a rotation rate multiplier: */
#define CONTROL_RATE_CONFIG_YAW_RATE_MAX         255

#define CONTROL_RATE_CONFIG_TPA_MAX              100

#define IS_RANGE_USABLE(range) ((range)->startStep < (range)->endStep)

struct rx;
struct config;
void rc_init(struct rc *self, struct rx *rx, struct rc_event_listener *evl, const struct config *config);

rc_key_state_t rc_key_state(struct rc *rc, rc_key_t key);

int16_t rc_get_command(struct rc *self, uint8_t axis);

void rc_update(struct rc *self);