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Implement getBoxIdState

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packFlightModeFlags is simplified by using it. Base for #5111
This commit is contained in:
Petr Ledvina 2018-02-05 12:42:58 +01:00
parent 8738e7d623
commit 5a75737df9
4 changed files with 47 additions and 50 deletions
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55
src/main/interface/msp_box.c
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@ -270,53 +270,36 @@ void initActiveBoxIds(void)
activeBoxIds = ena; // set global variable
}
// return state of given boxId box, handling ARM and FLIGHT_MODE
bool getBoxIdState(boxId_e boxid)
{
const uint8_t boxIdToFlightModeMap[] = BOXID_TO_FLIGHT_MODE_MAP_INITIALIZER;
// we assume that all boxId below BOXID_FLIGHTMODE_LAST except BOXARM are mapped to flightmode
STATIC_ASSERT(ARRAYLEN(boxIdToFlightModeMap) == BOXID_FLIGHTMODE_LAST + 1, FLIGHT_MODE_BOXID_MAP_INITIALIZER_does_not_match_boxId_e);
if (boxid == BOXARM) {
return ARMING_FLAG(ARMED);
} else if (boxid <= BOXID_FLIGHTMODE_LAST) {
return FLIGHT_MODE(1 << boxIdToFlightModeMap[boxid]);
} else {
return IS_RC_MODE_ACTIVE(boxid);
}
}
// pack used flightModeFlags into supplied array
// returns number of bits used
int packFlightModeFlags(boxBitmask_t *mspFlightModeFlags)
{
// Serialize the flags in the order we delivered them, ignoring BOXNAMES and BOXINDEXES
memset(mspFlightModeFlags, 0, sizeof(boxBitmask_t));
// enabled BOXes, bits indexed by boxId_e
boxBitmask_t boxEnabledMask;
boxBitmask_t boxFlightModeMask;
memset(&boxEnabledMask, 0, sizeof(boxEnabledMask));
memset(&boxFlightModeMask, 0, sizeof(boxFlightModeMask));
// copy ARM state
if (ARMING_FLAG(ARMED)) {
bitArraySet(&boxEnabledMask, BOXARM);
bitArraySet(&boxFlightModeMask, BOXARM);
}
// enable BOXes dependent on FLIGHT_MODE, use mapping table (from runtime_config.h)
// flightMode_boxId_map[HORIZON_MODE] == BOXHORIZON
static const int8_t flightMode_boxId_map[] = FLIGHT_MODE_BOXID_MAP_INITIALIZER;
for (unsigned i = 0; i < ARRAYLEN(flightMode_boxId_map); i++) {
const int8_t boxid = flightMode_boxId_map[i];
if (boxid != -1) { // boxId_e does exist for this FLIGHT_MODE
bitArraySet(&boxFlightModeMask, boxid);
if (FLIGHT_MODE(1 << i)) // this flightmode is active
bitArraySet(&boxEnabledMask, boxid);
}
}
// enable BOXes dependent on rcMode bits, indexes are the same.
// only subset of BOXes depend on rcMode (non-ARM or FLIGHT_MODE), use mask to select them
// NOTE: ARM and FLIGHT modes are potentially contingent on other conditions.
// Therefore, they must be masked/enabled separately from simple "range conditions" (RC)
for (unsigned i = 0; i < CHECKBOX_ITEM_COUNT; i++) {
if (!bitArrayGet(&boxFlightModeMask, i) && IS_RC_MODE_ACTIVE(i))
bitArraySet(&boxEnabledMask, i);
}
// map boxId_e enabled bits to MSP status indexes
// only active boxIds are sent in status over MSP, other bits are not counted
unsigned mspBoxIdx = 0; // index of active boxId (matches sent permanentId and boxNames)
for (boxId_e boxId = 0; boxId < CHECKBOX_ITEM_COUNT; boxId++) {
if (activeBoxIdGet(boxId)) {
if (bitArrayGet(&boxEnabledMask, boxId))
bitArraySet(mspFlightModeFlags, mspBoxIdx); // box is enabled
if (getBoxIdState(boxId))
bitArraySet(mspFlightModeFlags, mspBoxIdx); // box is enabled
mspBoxIdx++; // box is active, count it
}
}