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Code Issues Wiki Activity

MSP mode enable refactor

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This commit is contained in:
Dave Huber 2017-12-15 00:03:03 -06:00
parent 7a7f1ceda5
commit 8b4bfc345d
1 changed files with 9 additions and 42 deletions
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51
src/main/interface/msp_box.c
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@ -279,7 +279,9 @@ int packFlightModeFlags(boxBitmask_t *mspFlightModeFlags)
// 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)) {
@ -289,12 +291,12 @@ int packFlightModeFlags(boxBitmask_t *mspFlightModeFlags)
// 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;
flightModeFlags_e flightModeCopyMask = ~0; // only modes with bit set will be copied
for (unsigned i = 0; i < ARRAYLEN(flightMode_boxId_map); i++) {
if (flightMode_boxId_map[i] != -1 // boxId_e does exist for this FLIGHT_MODE
&& (flightModeCopyMask & (1 << i)) // this flightmode is copy is enabled
&& FLIGHT_MODE(1 << i)) { // this flightmode is active
bitArraySet(&boxEnabledMask, 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);
}
}
@ -302,45 +304,10 @@ int packFlightModeFlags(boxBitmask_t *mspFlightModeFlags)
// 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)
#define BM(x) (1ULL << (x))
// limited to 64 BOXes now to keep code simple
const uint64_t rcModeCopyMask = BM(BOXANTIGRAVITY)
| BM(BOXHEADADJ)
| BM(BOXCAMSTAB)
| BM(BOXCAMTRIG)
| BM(BOXBEEPERON)
| BM(BOXLEDMAX)
| BM(BOXLEDLOW)
| BM(BOXLLIGHTS)
| BM(BOXCALIB)
| BM(BOXGOV)
| BM(BOXOSD)
| BM(BOXTELEMETRY)
| BM(BOXGTUNE)
| BM(BOXSERVO1)
| BM(BOXSERVO2)
| BM(BOXSERVO3)
| BM(BOXBLACKBOX)
| BM(BOXAIRMODE)
| BM(BOX3DDISABLE)
| BM(BOXFPVANGLEMIX)
| BM(BOXBLACKBOXERASE)
| BM(BOXCAMERA1)
| BM(BOXCAMERA2)
| BM(BOXCAMERA3)
| BM(BOXFLIPOVERAFTERCRASH)
| BM(BOXPREARM)
| BM(BOXBEEPGPSCOUNT)
| BM(BOX3DONASWITCH)
| BM(BOXVTXPITMODE);
STATIC_ASSERT(sizeof(rcModeCopyMask) * 8 >= CHECKBOX_ITEM_COUNT, copy_mask_too_small_for_boxes);
for (unsigned i = 0; i < CHECKBOX_ITEM_COUNT; i++) {
if ((rcModeCopyMask & BM(i)) // mode copy is enabled
&& IS_RC_MODE_ACTIVE(i)) { // mode is active
for (unsigned i = 1; i < CHECKBOX_ITEM_COUNT; i++) { // skip BOXARM
if (!bitArrayGet(&boxFlightModeMask, i) && IS_RC_MODE_ACTIVE(i))
bitArraySet(&boxEnabledMask, i);
}
}
#undef BM
// map boxId_e enabled bits to MSP status indexes
// only active boxIds are sent in status over MSP, other bits are not counted