mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-15 04:15:44 +03:00
346 lines
9.8 KiB
C
346 lines
9.8 KiB
C
/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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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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#include "common/bitarray.h"
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#include "common/streambuf.h"
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#include "common/utils.h"
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#include "config/feature.h"
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#include "fc/config.h"
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#include "fc/runtime_config.h"
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#include "flight/mixer.h"
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#include "interface/msp_box.h"
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#include "sensors/sensors.h"
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#include "telemetry/telemetry.h"
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#include "pg/piniobox.h"
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#ifndef USE_OSD_SLAVE
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// permanent IDs must uniquely identify BOX meaning, DO NOT REUSE THEM!
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static const box_t boxes[CHECKBOX_ITEM_COUNT] = {
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{ BOXARM, "ARM", 0 },
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{ BOXANGLE, "ANGLE", 1 },
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{ BOXHORIZON, "HORIZON", 2 },
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{ BOXBARO, "BARO", 3 },
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{ BOXANTIGRAVITY, "ANTI GRAVITY", 4 },
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{ BOXMAG, "MAG", 5 },
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{ BOXHEADFREE, "HEADFREE", 6 },
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{ BOXHEADADJ, "HEADADJ", 7 },
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{ BOXCAMSTAB, "CAMSTAB", 8 },
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// { BOXCAMTRIG, "CAMTRIG", 9 },
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{ BOXGPSHOME, "GPS HOME", 10 },
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{ BOXGPSHOLD, "GPS HOLD", 11 },
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{ BOXPASSTHRU, "PASSTHRU", 12 },
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{ BOXBEEPERON, "BEEPER", 13 },
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// { BOXLEDMAX, "LEDMAX", 14 }, (removed)
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{ BOXLEDLOW, "LEDLOW", 15 },
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// { BOXLLIGHTS, "LLIGHTS", 16 }, (removed)
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{ BOXCALIB, "CALIB", 17 },
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// { BOXGOV, "GOVERNOR", 18 }, (removed)
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{ BOXOSD, "OSD DISABLE SW", 19 },
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{ BOXTELEMETRY, "TELEMETRY", 20 },
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// { BOXGTUNE, "GTUNE", 21 }, (removed)
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// { BOXRANGEFINDER, "RANGEFINDER", 22 }, (removed)
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{ BOXSERVO1, "SERVO1", 23 },
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{ BOXSERVO2, "SERVO2", 24 },
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{ BOXSERVO3, "SERVO3", 25 },
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{ BOXBLACKBOX, "BLACKBOX", 26 },
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{ BOXFAILSAFE, "FAILSAFE", 27 },
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{ BOXAIRMODE, "AIR MODE", 28 },
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{ BOX3D, "DISABLE / SWITCH 3D", 29},
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{ BOXFPVANGLEMIX, "FPV ANGLE MIX", 30},
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{ BOXBLACKBOXERASE, "BLACKBOX ERASE (>30s)", 31 },
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{ BOXCAMERA1, "CAMERA CONTROL 1", 32},
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{ BOXCAMERA2, "CAMERA CONTROL 2", 33},
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{ BOXCAMERA3, "CAMERA CONTROL 3", 34 },
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{ BOXFLIPOVERAFTERCRASH, "FLIP OVER AFTER CRASH", 35 },
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{ BOXPREARM, "PREARM", 36 },
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{ BOXBEEPGPSCOUNT, "BEEP GPS SATELLITE COUNT", 37 },
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// { BOX3DONASWITCH, "3D ON A SWITCH", 38 }, (removed)
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{ BOXVTXPITMODE, "VTX PIT MODE", 39 },
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{ BOXUSER1, "USER1", 40 },
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{ BOXUSER2, "USER2", 41 },
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{ BOXUSER3, "USER3", 42 },
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{ BOXUSER4, "USER4", 43 },
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{ BOXPIDAUDIO, "PID AUDIO", 44 },
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{ BOXPARALYZE, "PARALYZE", 45 },
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{ BOXGPSRESCUE, "GPS RESCUE", 46 },
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{ BOXACROTRAINER, "ACRO TRAINER", 47 },
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};
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// mask of enabled IDs, calculated on startup based on enabled features. boxId_e is used as bit index
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static boxBitmask_t activeBoxIds;
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const box_t *findBoxByBoxId(boxId_e boxId)
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{
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for (unsigned i = 0; i < ARRAYLEN(boxes); i++) {
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const box_t *candidate = &boxes[i];
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if (candidate->boxId == boxId)
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return candidate;
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}
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return NULL;
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}
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const box_t *findBoxByPermanentId(uint8_t permanentId)
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{
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for (unsigned i = 0; i < ARRAYLEN(boxes); i++) {
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const box_t *candidate = &boxes[i];
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if (candidate->permanentId == permanentId)
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return candidate;
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}
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return NULL;
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}
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static bool activeBoxIdGet(boxId_e boxId)
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{
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if (boxId > sizeof(activeBoxIds) * 8)
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return false;
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return bitArrayGet(&activeBoxIds, boxId);
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}
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void serializeBoxNameFn(sbuf_t *dst, const box_t *box)
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{
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sbufWriteString(dst, box->boxName);
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sbufWriteU8(dst, ';');
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}
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void serializeBoxPermanentIdFn(sbuf_t *dst, const box_t *box)
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{
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sbufWriteU8(dst, box->permanentId);
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}
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// serialize 'page' of boxNames.
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// Each page contains at most 32 boxes
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void serializeBoxReply(sbuf_t *dst, int page, serializeBoxFn *serializeBox)
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{
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unsigned boxIdx = 0;
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unsigned pageStart = page * 32;
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unsigned pageEnd = pageStart + 32;
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for (boxId_e id = 0; id < CHECKBOX_ITEM_COUNT; id++) {
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if (activeBoxIdGet(id)) {
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if (boxIdx >= pageStart && boxIdx < pageEnd) {
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(*serializeBox)(dst, findBoxByBoxId(id));
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}
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boxIdx++; // count active boxes
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}
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}
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}
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void initActiveBoxIds(void)
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{
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// calculate used boxes based on features and set corresponding activeBoxIds bits
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boxBitmask_t ena; // temporary variable to collect result
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memset(&ena, 0, sizeof(ena));
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// macro to enable boxId (BoxidMaskEnable). Reference to ena is hidden, local use only
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#define BME(boxId) do { bitArraySet(&ena, boxId); } while (0)
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BME(BOXARM);
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BME(BOXPREARM);
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if (!featureIsEnabled(FEATURE_AIRMODE)) {
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BME(BOXAIRMODE);
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}
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if (!featureIsEnabled(FEATURE_ANTI_GRAVITY)) {
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BME(BOXANTIGRAVITY);
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}
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if (sensors(SENSOR_ACC)) {
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BME(BOXANGLE);
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BME(BOXHORIZON);
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BME(BOXHEADFREE);
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BME(BOXHEADADJ);
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}
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#ifdef USE_MAG
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if (sensors(SENSOR_MAG)) {
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BME(BOXMAG);
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}
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#endif
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#ifdef USE_GPS
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if (featureIsEnabled(FEATURE_GPS)) {
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#ifdef USE_GPS_RESCUE
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if (!featureIsEnabled(FEATURE_3D)) {
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BME(BOXGPSRESCUE);
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}
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#endif
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BME(BOXBEEPGPSCOUNT);
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}
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#endif
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BME(BOXFAILSAFE);
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if (mixerConfig()->mixerMode == MIXER_FLYING_WING || mixerConfig()->mixerMode == MIXER_AIRPLANE || mixerConfig()->mixerMode == MIXER_CUSTOM_AIRPLANE) {
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BME(BOXPASSTHRU);
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}
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BME(BOXBEEPERON);
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#ifdef USE_LED_STRIP
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if (featureIsEnabled(FEATURE_LED_STRIP)) {
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BME(BOXLEDLOW);
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}
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#endif
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#ifdef USE_BLACKBOX
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BME(BOXBLACKBOX);
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#ifdef USE_FLASHFS
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BME(BOXBLACKBOXERASE);
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#endif
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#endif
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BME(BOXFPVANGLEMIX);
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if (featureIsEnabled(FEATURE_3D)) {
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BME(BOX3D);
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}
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if (isMotorProtocolDshot()) {
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BME(BOXFLIPOVERAFTERCRASH);
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}
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if (featureIsEnabled(FEATURE_SERVO_TILT)) {
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BME(BOXCAMSTAB);
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}
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if (featureIsEnabled(FEATURE_INFLIGHT_ACC_CAL)) {
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BME(BOXCALIB);
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}
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BME(BOXOSD);
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#ifdef USE_TELEMETRY
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if (featureIsEnabled(FEATURE_TELEMETRY)) {
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BME(BOXTELEMETRY);
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}
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#endif
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#ifdef USE_SERVOS
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if (mixerConfig()->mixerMode == MIXER_CUSTOM_AIRPLANE) {
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BME(BOXSERVO1);
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BME(BOXSERVO2);
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BME(BOXSERVO3);
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}
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#endif
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#ifdef USE_RCDEVICE
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BME(BOXCAMERA1);
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BME(BOXCAMERA2);
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BME(BOXCAMERA3);
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#endif
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#if defined(USE_VTX_SMARTAUDIO) || defined(USE_VTX_TRAMP)
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BME(BOXVTXPITMODE);
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#endif
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BME(BOXPARALYZE);
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#ifdef USE_PINIOBOX
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// Turn BOXUSERx only if pinioBox facility monitors them, as the facility is the only BOXUSERx observer.
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// Note that pinioBoxConfig can be set to monitor any box.
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for (int i = 0; i < PINIO_COUNT; i++) {
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if (pinioBoxConfig()->permanentId[i] != PERMANENT_ID_NONE) {
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const box_t *box = findBoxByPermanentId(pinioBoxConfig()->permanentId[i]);
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if (box) {
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switch(box->boxId) {
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case BOXUSER1:
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case BOXUSER2:
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case BOXUSER3:
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case BOXUSER4:
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BME(box->boxId);
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break;
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default:
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break;
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}
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}
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}
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}
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#endif
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#if defined(USE_PID_AUDIO)
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BME(BOXPIDAUDIO);
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#endif
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#if defined(USE_ACRO_TRAINER) && defined(USE_ACC)
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if (sensors(SENSOR_ACC)) {
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BME(BOXACROTRAINER);
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}
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#endif // USE_ACRO_TRAINER
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#undef BME
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// check that all enabled IDs are in boxes array (check may be skipped when using findBoxById() functions)
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for (boxId_e boxId = 0; boxId < CHECKBOX_ITEM_COUNT; boxId++)
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if (bitArrayGet(&ena, boxId)
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&& findBoxByBoxId(boxId) == NULL)
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bitArrayClr(&ena, boxId); // this should not happen, but handle it gracefully
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activeBoxIds = ena; // set global variable
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}
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// return state of given boxId box, handling ARM and FLIGHT_MODE
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bool getBoxIdState(boxId_e boxid)
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{
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const uint8_t boxIdToFlightModeMap[] = BOXID_TO_FLIGHT_MODE_MAP_INITIALIZER;
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// we assume that all boxId below BOXID_FLIGHTMODE_LAST except BOXARM are mapped to flightmode
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STATIC_ASSERT(ARRAYLEN(boxIdToFlightModeMap) == BOXID_FLIGHTMODE_LAST + 1, FLIGHT_MODE_BOXID_MAP_INITIALIZER_does_not_match_boxId_e);
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if (boxid == BOXARM) {
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return ARMING_FLAG(ARMED);
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} else if (boxid <= BOXID_FLIGHTMODE_LAST) {
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return FLIGHT_MODE(1 << boxIdToFlightModeMap[boxid]);
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} else {
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return IS_RC_MODE_ACTIVE(boxid);
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}
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}
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// pack used flightModeFlags into supplied array
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// returns number of bits used
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int packFlightModeFlags(boxBitmask_t *mspFlightModeFlags)
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{
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// Serialize the flags in the order we delivered them, ignoring BOXNAMES and BOXINDEXES
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memset(mspFlightModeFlags, 0, sizeof(boxBitmask_t));
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// map boxId_e enabled bits to MSP status indexes
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// only active boxIds are sent in status over MSP, other bits are not counted
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unsigned mspBoxIdx = 0; // index of active boxId (matches sent permanentId and boxNames)
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for (boxId_e boxId = 0; boxId < CHECKBOX_ITEM_COUNT; boxId++) {
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if (activeBoxIdGet(boxId)) {
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if (getBoxIdState(boxId))
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bitArraySet(mspFlightModeFlags, mspBoxIdx); // box is enabled
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mspBoxIdx++; // box is active, count it
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}
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}
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// return count of used bits
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return mspBoxIdx;
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}
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#endif // USE_OSD_SLAVE
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