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https://github.com/betaflight/betaflight.git
synced 2025-07-13 03:20:00 +03:00
Fix arming disable flag and OSD warning buffer size (#14057)
* Fix missing arming disable flag * Add test for array length * Fix array init && add getter * armingDisableFlagNames is no longer external * Update array * Thanks ledvinap * Revert designated initializers * Increase OSD Warnings buffer size * Remove standard libraries * Refactor * Update pos * Restore comment * Micro optimize * Extract condition * Another optimization * Use cmpTimeUs (not cmp32) * Revert STATIC ASSERT string change * Adjust esc sensor warning * I like this * Optimize intended minimum width * revert Optimize intended minimum width * Is dshot telemetry and esc telemetry exclusive * Fix conflict * OSD - WARNINGS_PREFERRED_SIZE * OSD - Return NONE for no flag
This commit is contained in:
Mark Haslinghuis
GitHub
parent
3138141cd1
commit
4b78aeec51
7 changed files with 77 additions and 71 deletions
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@ -4892,9 +4892,9 @@ if (buildKey) {
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cliPrint("Arming disable flags:");
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armingDisableFlags_e flags = getArmingDisableFlags();
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while (flags) {
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const int bitpos = ffs(flags) - 1;
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flags &= ~(1 << bitpos);
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cliPrintf(" %s", armingDisableFlagNames[bitpos]);
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const armingDisableFlags_e flag = 1 << (ffs(flags) - 1);
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flags &= ~flag;
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cliPrintf(" %s", getArmingDisableFlagName(flag));
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}
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cliPrintLinefeed();
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}
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@ -20,6 +20,7 @@
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#include <stdbool.h>
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#include <stdint.h>
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#include <string.h>
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#include "platform.h"
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@ -32,7 +33,8 @@ uint16_t flightModeFlags = 0;
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static uint32_t enabledSensors = 0;
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// Must be no longer than OSD_WARNINGS_MAX_SIZE (11) to be displayed fully in OSD
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// Name must be no longer than OSD_WARNINGS_MAX_SIZE
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// try to keep names within OSD_WARNINGS_PREFFERED_SIZE
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const char *armingDisableFlagNames[]= {
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"NOGYRO",
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"FAILSAFE",
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@ -64,6 +66,7 @@ const char *armingDisableFlagNames[]= {
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"POS_HOLD_SW",
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"ARM_SWITCH",
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};
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STATIC_ASSERT(ARRAYLEN(armingDisableFlagNames) == ARMING_DISABLE_FLAGS_COUNT, armingDisableFlagNames_size_mismatch);
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static armingDisableFlags_e armingDisableFlags = 0;
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@ -87,6 +90,17 @@ armingDisableFlags_e getArmingDisableFlags(void)
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return armingDisableFlags;
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}
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// return name for given flag
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// will return first name (LSB) if multiple bits are passed
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const char *getArmingDisableFlagName(armingDisableFlags_e flag)
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{
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if (!flag) {
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return "NONE";
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}
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unsigned idx = ffs(flag & -flag) - 1; // use LSB if there are multiple bits set
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return idx < ARRAYLEN(armingDisableFlagNames) ? armingDisableFlagNames[idx] : "UNKNOWN";
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}
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/**
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* Enables the given flight mode. A beep is sounded if the flight mode
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* has changed. Returns the new 'flightModeFlags' value.
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@ -73,12 +73,11 @@ typedef enum {
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#define ARMING_DISABLE_FLAGS_COUNT (LOG2(ARMING_DISABLED_ARM_SWITCH) + 1)
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extern const char *armingDisableFlagNames[ARMING_DISABLE_FLAGS_COUNT];
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void setArmingDisabled(armingDisableFlags_e flag);
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void unsetArmingDisabled(armingDisableFlags_e flag);
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bool isArmingDisabled(void);
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armingDisableFlags_e getArmingDisableFlags(void);
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const char *getArmingDisableFlagName(armingDisableFlags_e flag);
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typedef enum {
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ANGLE_MODE = (1 << 0),
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@ -1301,7 +1301,7 @@ case MSP_NAME:
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{
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bool isBlinking;
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uint8_t displayAttr;
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char warningsBuffer[OSD_FORMAT_MESSAGE_BUFFER_SIZE];
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char warningsBuffer[OSD_WARNINGS_MAX_SIZE + 1];
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renderOsdWarning(warningsBuffer, &isBlinking, &displayAttr);
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const uint8_t warningsLen = strlen(warningsBuffer);
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@ -1311,9 +1311,7 @@ case MSP_NAME:
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}
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sbufWriteU8(dst, displayAttr); // see displayPortSeverity_e
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sbufWriteU8(dst, warningsLen); // length byte followed by the actual characters
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for (unsigned i = 0; i < warningsLen; i++) {
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sbufWriteU8(dst, warningsBuffer[i]);
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}
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sbufWriteData(dst, warningsBuffer, warningsLen);
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break;
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}
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#endif
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@ -453,7 +453,7 @@ void pgResetFn_osdElementConfig(osdElementConfig_t *osdElementConfig)
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for (unsigned i = 1; i <= OSD_PROFILE_COUNT; i++) {
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profileFlags |= OSD_PROFILE_FLAG(i);
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}
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osdElementConfig->item_pos[OSD_WARNINGS] = OSD_POS((midCol - 6), (midRow + 3)) | profileFlags;
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osdElementConfig->item_pos[OSD_WARNINGS] = OSD_POS((midCol - OSD_WARNINGS_PREFFERED_SIZE / 2), (midRow + 3)) | profileFlags;
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// Default to old fixed positions for these elements
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osdElementConfig->item_pos[OSD_CROSSHAIRS] = OSD_POS((midCol - 2), (midRow - 1));
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@ -73,7 +73,7 @@ void renderOsdWarning(char *warningText, bool *blinking, uint8_t *displayAttr)
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const timeUs_t currentTimeUs = micros();
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static timeUs_t armingDisabledUpdateTimeUs;
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static unsigned armingDisabledDisplayIndex;
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static armingDisableFlags_e armingDisabledDisplayFlag = 0;
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warningText[0] = '\0';
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*displayAttr = DISPLAYPORT_SEVERITY_NORMAL;
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@ -82,34 +82,34 @@ void renderOsdWarning(char *warningText, bool *blinking, uint8_t *displayAttr)
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// Cycle through the arming disabled reasons
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if (osdWarnGetState(OSD_WARNING_ARMING_DISABLE)) {
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if (IS_RC_MODE_ACTIVE(BOXARM) && isArmingDisabled()) {
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const armingDisableFlags_e armSwitchOnlyFlag = 1 << (ARMING_DISABLE_FLAGS_COUNT - 1);
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armingDisableFlags_e flags = getArmingDisableFlags();
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// Remove the ARMSWITCH flag unless it's the only one
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if ((flags & armSwitchOnlyFlag) && (flags != armSwitchOnlyFlag)) {
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flags -= armSwitchOnlyFlag;
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if (flags != ARMING_DISABLED_ARM_SWITCH) {
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flags &= ~ARMING_DISABLED_ARM_SWITCH;
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}
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// Rotate to the next arming disabled reason after a 0.5 second time delay
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// or if the current flag is no longer set
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if ((currentTimeUs - armingDisabledUpdateTimeUs > 5e5) || !(flags & (1 << armingDisabledDisplayIndex))) {
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if (armingDisabledUpdateTimeUs == 0) {
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armingDisabledDisplayIndex = ARMING_DISABLE_FLAGS_COUNT - 1;
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}
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// or if the current flag is no longer set or if just starting
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if (cmpTimeUs(currentTimeUs, armingDisabledUpdateTimeUs) > 500000
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|| (flags & armingDisabledDisplayFlag) == 0) {
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armingDisabledUpdateTimeUs = currentTimeUs;
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do {
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if (++armingDisabledDisplayIndex >= ARMING_DISABLE_FLAGS_COUNT) {
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armingDisabledDisplayIndex = 0;
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armingDisableFlags_e flag = armingDisabledDisplayFlag << 1; // next bit to try or 0
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armingDisableFlags_e flagsRemaining = flags & ~(flag - 1); // clear all bits <= flag; clear all bits when flag == 0
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flag = flagsRemaining & -flagsRemaining; // LSB in remaining bits
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if (!flag) {
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// no bit is set above flag (or flag was 0), try again with all bits
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flag = flags & -flags;
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}
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} while (!(flags & (1 << armingDisabledDisplayIndex)));
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armingDisabledDisplayFlag = flag; // store for next iteration
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}
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tfp_sprintf(warningText, "%s", armingDisableFlagNames[armingDisabledDisplayIndex]);
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tfp_sprintf(warningText, "%s", getArmingDisableFlagName(armingDisabledDisplayFlag));
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*displayAttr = DISPLAYPORT_SEVERITY_WARNING;
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return;
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} else {
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armingDisabledUpdateTimeUs = 0;
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armingDisabledDisplayFlag = 0; // start from LSB next time
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}
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}
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@ -278,60 +278,55 @@ void renderOsdWarning(char *warningText, bool *blinking, uint8_t *displayAttr)
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#ifdef USE_ESC_SENSOR
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// Show warning if we lose motor output, the ESC is overheating or excessive current draw
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if (featureIsEnabled(FEATURE_ESC_SENSOR) && osdWarnGetState(OSD_WARNING_ESC_FAIL)) {
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char escWarningMsg[OSD_FORMAT_MESSAGE_BUFFER_SIZE];
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unsigned pos = 0;
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if (featureIsEnabled(FEATURE_ESC_SENSOR) && osdWarnGetState(OSD_WARNING_ESC_FAIL) && ARMING_FLAG(ARMED)) {
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char* p = warningText;
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strcpy(p, "ESC");
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p += strlen("ESC");
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const char *title = "ESC";
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// center justify message
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while (pos < (OSD_WARNINGS_MAX_SIZE - (strlen(title) + getMotorCount())) / 2) {
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escWarningMsg[pos++] = ' ';
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}
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strcpy(escWarningMsg + pos, title);
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pos += strlen(title);
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unsigned i = 0;
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unsigned escWarningCount = 0;
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while (i < getMotorCount() && pos < OSD_FORMAT_MESSAGE_BUFFER_SIZE - 1) {
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bool escWarning = false;
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for (unsigned i = 0; i < getMotorCount() && p < warningText + OSD_WARNINGS_MAX_SIZE - 1; i++) {
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escSensorData_t *escData = getEscSensorData(i);
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const char motorNumber = '1' + i;
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// if everything is OK just display motor number else R, T or C
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char warnFlag = motorNumber;
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if (ARMING_FLAG(ARMED) && osdConfig()->esc_rpm_alarm != ESC_RPM_ALARM_OFF && (uint32_t)erpmToRpm(escData->rpm) <= (uint32_t)osdConfig()->esc_rpm_alarm) {
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warnFlag = 'R';
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if (osdConfig()->esc_current_alarm != ESC_CURRENT_ALARM_OFF
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&& escData->current >= osdConfig()->esc_current_alarm) {
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*p++ = 'C';
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escWarning = true;
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} else if (osdConfig()->esc_temp_alarm != ESC_TEMP_ALARM_OFF
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&& escData->temperature >= osdConfig()->esc_temp_alarm) {
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*p++ = 'T';
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escWarning = true;
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} else if (osdConfig()->esc_rpm_alarm != ESC_RPM_ALARM_OFF
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&& erpmToRpm(escData->rpm) <= osdConfig()->esc_rpm_alarm) {
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*p++ = 'R';
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escWarning = true;;
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} else { // no error, display motor number
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*p++ = '0' + (i + 1) % 10; // 123..9012..
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}
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if (osdConfig()->esc_temp_alarm != ESC_TEMP_ALARM_OFF && escData->temperature >= osdConfig()->esc_temp_alarm) {
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warnFlag = 'T';
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}
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if (ARMING_FLAG(ARMED) && osdConfig()->esc_current_alarm != ESC_CURRENT_ALARM_OFF && escData->current >= osdConfig()->esc_current_alarm) {
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warnFlag = 'C';
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}
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escWarningMsg[pos++] = warnFlag;
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if (warnFlag != motorNumber) {
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escWarningCount++;
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*p++ = 0; // terminate string
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if (escWarning) {
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const int msgLen = strlen(warningText);
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const int minMsgLen = OSD_WARNINGS_PREFFERED_SIZE; // intended minimum width
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if (msgLen < minMsgLen - 1) {
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// message is short, center it within minMsgLen
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const int offset = (minMsgLen - msgLen) / 2;
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memmove(warningText + offset, warningText, msgLen + 1); // copy including '\0'
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memset(warningText, ' ', offset); // left padding with spaces
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}
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i++;
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}
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escWarningMsg[pos] = '\0';
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if (escWarningCount > 0) {
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tfp_sprintf(warningText, "%s", escWarningMsg);
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*displayAttr = DISPLAYPORT_SEVERITY_WARNING;
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*blinking = true;
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return;
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} else {
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// no warning, erase generated message and continue
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warningText[0] = '\0';
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}
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}
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#endif // USE_ESC_SENSOR
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#if defined(USE_DSHOT) && defined(USE_DSHOT_TELEMETRY)
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// Show esc error
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if (osdWarnGetState(OSD_WARNING_ESC_FAIL)) {
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if (motorConfig()->dev.useDshotTelemetry && osdWarnGetState(OSD_WARNING_ESC_FAIL) && ARMING_FLAG(ARMED)) {
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uint32_t dshotEscErrorLengthMotorBegin;
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uint32_t dshotEscErrorLength = 0;
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@ -354,7 +349,7 @@ void renderOsdWarning(char *warningText, bool *blinking, uint8_t *displayAttr)
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warningText[dshotEscErrorLength++] = '0' + k + 1;
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// Add esc warnings
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if (ARMING_FLAG(ARMED) && osdConfig()->esc_rpm_alarm != ESC_RPM_ALARM_OFF
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if (osdConfig()->esc_rpm_alarm != ESC_RPM_ALARM_OFF
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&& isDshotMotorTelemetryActive(k)
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&& (dshotTelemetryState.motorState[k].telemetryData[DSHOT_TELEMETRY_TYPE_eRPM] * 100 * 2 / motorConfig()->motorPoleCount) <= osdConfig()->esc_rpm_alarm) {
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warningText[dshotEscErrorLength++] = 'R';
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@ -364,7 +359,7 @@ void renderOsdWarning(char *warningText, bool *blinking, uint8_t *displayAttr)
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&& dshotTelemetryState.motorState[k].telemetryData[DSHOT_TELEMETRY_TYPE_TEMPERATURE] >= osdConfig()->esc_temp_alarm) {
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warningText[dshotEscErrorLength++] = 'T';
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}
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if (ARMING_FLAG(ARMED) && osdConfig()->esc_current_alarm != ESC_CURRENT_ALARM_OFF
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if (osdConfig()->esc_current_alarm != ESC_CURRENT_ALARM_OFF
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&& (dshotTelemetryState.motorState[k].telemetryTypes & (1 << DSHOT_TELEMETRY_TYPE_CURRENT)) != 0
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&& dshotTelemetryState.motorState[k].telemetryData[DSHOT_TELEMETRY_TYPE_CURRENT] >= osdConfig()->esc_current_alarm) {
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warningText[dshotEscErrorLength++] = 'C';
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@ -20,11 +20,11 @@
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#pragma once
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#define OSD_WARNINGS_MAX_SIZE 12
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#define OSD_FORMAT_MESSAGE_BUFFER_SIZE (OSD_WARNINGS_MAX_SIZE + 1)
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#define OSD_WARNINGS_MAX_SIZE 31 // buffer size excluding terminating '\0'
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#define OSD_WARNINGS_PREFFERED_SIZE 12 // normal size for OSD_WARNINGS (centered on OSD)
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extern const char CRASHFLIP_WARNING[];
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STATIC_ASSERT(OSD_FORMAT_MESSAGE_BUFFER_SIZE <= OSD_ELEMENT_BUFFER_LENGTH, osd_warnings_size_exceeds_buffer_size);
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STATIC_ASSERT(OSD_WARNINGS_MAX_SIZE + 1 <= OSD_ELEMENT_BUFFER_LENGTH, osd_warnings_size_exceeds_buffer_size);
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void renderOsdWarning(char *warningText, bool *blinking, uint8_t *displayAttr);
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