protoflight 0.1.2

Protoflight flight controller.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151

#[cfg(feature = "serde")]
use {
    sequential_storage::map::PostcardValue,
    serde::{Deserialize, Serialize},
};

#[derive(Clone, Copy, Debug, PartialEq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub struct ArmingConfig {
    pub gyro_cal_on_first_arm: u8, // calibrate the gyro right before the first arm
    pub auto_disarm_delay: u8, // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0
    pub prearm_allow_rearm: u8,
}

impl ArmingConfig {
    pub const fn new() -> Self {
        Self { gyro_cal_on_first_arm: 0, auto_disarm_delay: 5, prearm_allow_rearm: 0 }
    }
}

#[cfg(feature = "serde")]
impl PostcardValue<'_> for ArmingConfig {}

impl Default for ArmingConfig {
    fn default() -> Self {
        Self::new()
    }
}

#[derive(Clone, Copy, Debug, PartialEq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub struct ArmingFlags {
    pub flags: u8,
}

#[allow(unused)]
impl ArmingFlags {
    pub const ARMED: u8 = (1 << 0);
    pub const WAS_EVER_ARMED: u8 = (1 << 1);
    pub const WAS_ARMED_WITH_PREARM: u8 = (1 << 2);

    pub const fn new() -> Self {
        Self { flags: 0 }
    }

    pub fn set(&mut self, flag: u8) {
        self.flags |= flag;
    }

    pub fn is_set(self, flag: u8) -> bool {
        self.flags & flag != 0
    }

    pub fn flags(self) -> u8 {
        self.flags
    }
}

#[cfg(feature = "serde")]
impl PostcardValue<'_> for ArmingFlags {}

impl Default for ArmingFlags {
    fn default() -> Self {
        Self::new()
    }
}

#[derive(Clone, Copy, Debug, PartialEq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
pub struct DisarmingFlags {
    pub flags: u32,
}

#[allow(unused)]
impl DisarmingFlags {
    pub const NO_GYRO: u32 = 1 << 0;
    pub const FAILSAFE: u32 = 1 << 1;
    pub const RX_FAILSAFE: u32 = 1 << 2;
    pub const NOT_DISARMED: u32 = 1 << 3;
    pub const BOX_FAILSAFE: u32 = 1 << 4;
    pub const RUNAWAY_TAKEOFF: u32 = 1 << 5;
    pub const CRASH_DETECTED: u32 = 1 << 6;
    pub const THROTTLE: u32 = 1 << 7;
    pub const ANGLE: u32 = 1 << 8;
    pub const BOOT_GRACE_TIME: u32 = 1 << 9;
    pub const NO_PREARM: u32 = 1 << 10;
    pub const LOAD: u32 = 1 << 11;
    pub const CALIBRATING: u32 = 1 << 12;
    pub const CLI: u32 = 1 << 13;
    pub const CMS_MENU: u32 = 1 << 14;
    pub const BST: u32 = 1 << 15;
    pub const MSP: u32 = 1 << 16;
    pub const PARALYZE: u32 = 1 << 17;
    pub const GPS: u32 = 1 << 18;
    pub const R_ESC: u32 = 1 << 19;
    pub const DSHOT_TELEMETRY: u32 = 1 << 20;
    pub const REBOOT_REQUIRED: u32 = 1 << 21;
    pub const DSHOT_BITBANG: u32 = 1 << 22;
    pub const ACC_CALIBRATION: u32 = 1 << 23;
    pub const MOTOR_PROTOCOL: u32 = 1 << 24;
    pub const CRASH_FLIP: u32 = 1 << 25;
    pub const ALT_HOLD: u32 = 1 << 26;
    pub const POS_HOLD: u32 = 1 << 27;
    pub const ARM_SWITCH: u32 = 1 << 28; // Needs to be the last element, since it's always activated if one of the others is active when arming

    pub const fn new() -> Self {
        Self { flags: 0 }
    }

    pub fn set(&mut self, flag: u32) {
        self.flags |= flag;
    }

    pub fn is_set(self, flag: u32) -> bool {
        self.flags & flag != 0
    }

    pub fn flags(self) -> u32 {
        self.flags
    }
}

#[cfg(feature = "serde")]
impl PostcardValue<'_> for DisarmingFlags {}

impl Default for DisarmingFlags {
    fn default() -> Self {
        Self::new()
    }
}

#[cfg(test)]
mod tests {
    use super::*;

    fn _is_normal<T: Sized + Send + Sync + Unpin>() {}
    fn is_full<T: Sized + Send + Sync + Unpin + Copy + Clone + Default + PartialEq>() {}
    #[cfg(feature = "serde")]
    fn is_config<T: Serialize + for<'a> Deserialize<'a> + for<'a> PostcardValue<'a>>() {}

    #[test]
    fn normal_types() {
        is_full::<ArmingFlags>();
        is_full::<DisarmingFlags>();

        #[cfg(feature = "serde")]
        is_config::<ArmingFlags>();
        #[cfg(feature = "serde")]
        is_config::<DisarmingFlags>();
    }
}