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Replace global flags with stateFlags, flightModeFlags and armingFlags.

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Each flag was previously a whole byte, now all of the flags only take up
4 bytes as they are represented by bit masks.

This is cleaner because the different kind of flags are now separated.

Additionally this changes the behaviour of arming slightly.  When using
a switch to arm the aircraft will not arm unless the switch has been in
the off state once.  This prevents arming if you power the aircraft with
a low throttle and the switch in the on position.
This commit is contained in:
Dominic Clifton 2014-08-24 12:11:30 +01:00
parent 1ea014ae25
commit 3f0754d295
18 changed files with 220 additions and 164 deletions
Download patch file Download diff file Expand all files Collapse all files

46
src/main/io/serial_msp.c
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@ -466,17 +466,17 @@ static bool processOutCommand(uint8_t cmdMSP)
// the bits in order, instead of setting the enabled bits based on BOXINDEX. WHERE IS THE FUCKING LOGIC IN THIS, FUCKWADS.
// Serialize the boxes in the order we delivered them, until multiwii retards fix their shit
junk = 0;
tmp = f.ANGLE_MODE << BOXANGLE |
f.HORIZON_MODE << BOXHORIZON |
f.BARO_MODE << BOXBARO |
f.MAG_MODE << BOXMAG |
f.HEADFREE_MODE << BOXHEADFREE |
tmp = FLIGHT_MODE(ANGLE_MODE) << BOXANGLE |
FLIGHT_MODE(HORIZON_MODE) << BOXHORIZON |
FLIGHT_MODE(BARO_MODE) << BOXBARO |
FLIGHT_MODE(MAG_MODE) << BOXMAG |
FLIGHT_MODE(HEADFREE_MODE) << BOXHEADFREE |
rcOptions[BOXHEADADJ] << BOXHEADADJ |
rcOptions[BOXCAMSTAB] << BOXCAMSTAB |
rcOptions[BOXCAMTRIG] << BOXCAMTRIG |
f.GPS_HOME_MODE << BOXGPSHOME |
f.GPS_HOLD_MODE << BOXGPSHOLD |
f.PASSTHRU_MODE << BOXPASSTHRU |
FLIGHT_MODE(GPS_HOME_MODE) << BOXGPSHOME |
FLIGHT_MODE(GPS_HOLD_MODE) << BOXGPSHOLD |
FLIGHT_MODE(PASSTHRU_MODE) << BOXPASSTHRU |
rcOptions[BOXBEEPERON] << BOXBEEPERON |
rcOptions[BOXLEDMAX] << BOXLEDMAX |
rcOptions[BOXLLIGHTS] << BOXLLIGHTS |
@ -485,7 +485,7 @@ static bool processOutCommand(uint8_t cmdMSP)
rcOptions[BOXOSD] << BOXOSD |
rcOptions[BOXTELEMETRY] << BOXTELEMETRY |
rcOptions[BOXAUTOTUNE] << BOXAUTOTUNE |
f.ARMED << BOXARM;
ARMING_FLAG(ARMED) << BOXARM;
for (i = 0; i < numberBoxItems; i++) {
int flag = (tmp & (1 << availableBoxes[i]));
if (flag)
@ -636,7 +636,7 @@ static bool processOutCommand(uint8_t cmdMSP)
#ifdef GPS
case MSP_RAW_GPS:
headSerialReply(16);
serialize8(f.GPS_FIX);
serialize8(STATE(GPS_FIX));
serialize8(GPS_numSat);
serialize32(GPS_coord[LAT]);
serialize32(GPS_coord[LON]);
@ -715,7 +715,7 @@ static bool processInCommand(void)
switch (currentPort->cmdMSP) {
case MSP_SELECT_SETTING:
if (!f.ARMED) {
if (!ARMING_FLAG(ARMED)) {
masterConfig.current_profile_index = read8();
if (masterConfig.current_profile_index > 2) {
masterConfig.current_profile_index = 0;
@ -817,21 +817,21 @@ static bool processInCommand(void)
}
break;
case MSP_RESET_CONF:
if (!f.ARMED) {
if (!ARMING_FLAG(ARMED)) {
resetEEPROM();
readEEPROM();
}
break;
case MSP_ACC_CALIBRATION:
if (!f.ARMED)
if (!ARMING_FLAG(ARMED))
accSetCalibrationCycles(CALIBRATING_ACC_CYCLES);
break;
case MSP_MAG_CALIBRATION:
if (!f.ARMED)
f.CALIBRATE_MAG = 1;
if (!ARMING_FLAG(ARMED))
ENABLE_STATE(CALIBRATE_MAG);
break;
case MSP_EEPROM_WRITE:
if (f.ARMED) {
if (ARMING_FLAG(ARMED)) {
headSerialError(0);
return true;
}
@ -840,13 +840,17 @@ static bool processInCommand(void)
break;
#ifdef GPS
case MSP_SET_RAW_GPS:
f.GPS_FIX = read8();
if (read8()) {
ENABLE_STATE(GPS_FIX);
} else {
DISABLE_STATE(GPS_FIX);
}
GPS_numSat = read8();
GPS_coord[LAT] = read32();
GPS_coord[LON] = read32();
GPS_altitude = read16();
GPS_speed = read16();
GPS_update |= 2; // New data signalisation to GPS functions
GPS_update |= 2; // New data signalisation to GPS functions // FIXME Magic Numbers
break;
case MSP_SET_WP:
wp_no = read8(); //get the wp number
@ -859,8 +863,8 @@ static bool processInCommand(void)
if (wp_no == 0) {
GPS_home[LAT] = lat;
GPS_home[LON] = lon;
f.GPS_HOME_MODE = 0; // with this flag, GPS_set_next_wp will be called in the next loop -- OK with SERIAL GPS / OK with I2C GPS
f.GPS_FIX_HOME = 1;
DISABLE_FLIGHT_MODE(GPS_HOME_MODE); // with this flag, GPS_set_next_wp will be called in the next loop -- OK with SERIAL GPS / OK with I2C GPS
ENABLE_STATE(GPS_FIX_HOME);
if (alt != 0)
AltHold = alt; // temporary implementation to test feature with apps
} else if (wp_no == 16) { // OK with SERIAL GPS -- NOK for I2C GPS / needs more code dev in order to inject GPS coord inside I2C GPS
@ -890,7 +894,7 @@ static void mspProcessPort(void)
if (currentPort->c_state == IDLE) {
currentPort->c_state = (c == '$') ? HEADER_START : IDLE;
if (currentPort->c_state == IDLE && !f.ARMED)
if (currentPort->c_state == IDLE && !ARMING_FLAG(ARMED))
evaluateOtherData(c); // if not armed evaluate all other incoming serial data
} else if (currentPort->c_state == HEADER_START) {
currentPort->c_state = (c == 'M') ? HEADER_M : IDLE;