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[fc_msp_box.c] Add macro to Active and Reset boxes

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This commit is contained in:
JuliooCesarMDM 2022-02-06 15:30:54 -03:00
parent 3147d5423f
commit 8d23d967d4
1 changed files with 65 additions and 60 deletions
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125
src/main/fc/fc_msp_box.c
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@ -102,6 +102,9 @@ static uint8_t activeBoxIds[CHECKBOX_ITEM_COUNT];
// this is the number of filled indexes in above array
uint8_t activeBoxIdCount = 0;
#define RESET_BOX_ID_COUNT activeBoxIdCount = 0;
#define ACTIVE_THIS_BOX(box) activeBoxIds[activeBoxIdCount++] = box;
const box_t *findBoxByActiveBoxId(uint8_t activeBoxId)
{
for (uint8_t boxIndex = 0; boxIndex < sizeof(boxes) / sizeof(box_t); boxIndex++) {
@ -169,39 +172,39 @@ void initActiveBoxIds(void)
// calculate used boxes based on features and fill availableBoxes[] array
memset(activeBoxIds, 0xFF, sizeof(activeBoxIds));
activeBoxIdCount = 0;
activeBoxIds[activeBoxIdCount++] = BOXARM;
activeBoxIds[activeBoxIdCount++] = BOXPREARM;
RESET_BOX_ID_COUNT;
ACTIVE_THIS_BOX(BOXARM);
ACTIVE_THIS_BOX(BOXPREARM);
if (sensors(SENSOR_ACC) && STATE(ALTITUDE_CONTROL)) {
activeBoxIds[activeBoxIdCount++] = BOXANGLE;
activeBoxIds[activeBoxIdCount++] = BOXHORIZON;
activeBoxIds[activeBoxIdCount++] = BOXTURNASSIST;
ACTIVE_THIS_BOX(BOXANGLE);
ACTIVE_THIS_BOX(BOXHORIZON);
ACTIVE_THIS_BOX(BOXTURNASSIST);
}
if (!feature(FEATURE_AIRMODE) && STATE(ALTITUDE_CONTROL)) {
activeBoxIds[activeBoxIdCount++] = BOXAIRMODE;
ACTIVE_THIS_BOX(BOXAIRMODE);
}
activeBoxIds[activeBoxIdCount++] = BOXHEADINGHOLD;
ACTIVE_THIS_BOX(BOXHEADINGHOLD);
if ((sensors(SENSOR_ACC) || sensors(SENSOR_MAG)) && STATE(MULTIROTOR)) {
activeBoxIds[activeBoxIdCount++] = BOXHEADFREE;
activeBoxIds[activeBoxIdCount++] = BOXHEADADJ;
ACTIVE_THIS_BOX(BOXHEADFREE);
ACTIVE_THIS_BOX(BOXHEADADJ);
}
if (STATE(ALTITUDE_CONTROL) && STATE(MULTIROTOR)) {
activeBoxIds[activeBoxIdCount++] = BOXFPVANGLEMIX;
ACTIVE_THIS_BOX(BOXFPVANGLEMIX);
}
//Camstab mode is enabled always
activeBoxIds[activeBoxIdCount++] = BOXCAMSTAB;
ACTIVE_THIS_BOX(BOXCAMSTAB);
#ifdef USE_GPS
if (STATE(ALTITUDE_CONTROL) && (sensors(SENSOR_BARO) || (feature(FEATURE_GPS) && (STATE(AIRPLANE) || positionEstimationConfig()->use_gps_no_baro)))) {
activeBoxIds[activeBoxIdCount++] = BOXNAVALTHOLD;
ACTIVE_THIS_BOX(BOXNAVALTHOLD);
if (STATE(MULTIROTOR)) {
activeBoxIds[activeBoxIdCount++] = BOXSURFACE;
ACTIVE_THIS_BOX(BOXSURFACE);
}
}
@ -210,53 +213,53 @@ void initActiveBoxIds(void)
const bool navFlowDeadReckoning = sensors(SENSOR_OPFLOW) && sensors(SENSOR_ACC) && positionEstimationConfig()->allow_dead_reckoning;
if (navFlowDeadReckoning || navReadyMultirotor || navReadyOther) {
if (!STATE(ROVER) && !STATE(BOAT)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVPOSHOLD;
ACTIVE_THIS_BOX(BOXNAVPOSHOLD);
}
if (STATE(AIRPLANE)) {
activeBoxIds[activeBoxIdCount++] = BOXLOITERDIRCHN;
ACTIVE_THIS_BOX(BOXLOITERDIRCHN);
}
}
if (navReadyMultirotor || navReadyOther) {
activeBoxIds[activeBoxIdCount++] = BOXNAVRTH;
activeBoxIds[activeBoxIdCount++] = BOXNAVWP;
activeBoxIds[activeBoxIdCount++] = BOXHOMERESET;
activeBoxIds[activeBoxIdCount++] = BOXGCSNAV;
activeBoxIds[activeBoxIdCount++] = BOXPLANWPMISSION;
ACTIVE_THIS_BOX(BOXNAVRTH);
ACTIVE_THIS_BOX(BOXNAVWP);
ACTIVE_THIS_BOX(BOXHOMERESET);
ACTIVE_THIS_BOX(BOXGCSNAV);
ACTIVE_THIS_BOX(BOXPLANWPMISSION);
if (STATE(AIRPLANE)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVCOURSEHOLD;
activeBoxIds[activeBoxIdCount++] = BOXNAVCRUISE;
activeBoxIds[activeBoxIdCount++] = BOXSOARING;
ACTIVE_THIS_BOX(BOXNAVCOURSEHOLD);
ACTIVE_THIS_BOX(BOXNAVCRUISE);
ACTIVE_THIS_BOX(BOXSOARING);
}
}
#ifdef USE_MR_BRAKING_MODE
if (mixerConfig()->platformType == PLATFORM_MULTIROTOR) {
activeBoxIds[activeBoxIdCount++] = BOXBRAKING;
ACTIVE_THIS_BOX(BOXBRAKING);
}
#endif
#endif
if (STATE(AIRPLANE) || STATE(ROVER) || STATE(BOAT)) {
activeBoxIds[activeBoxIdCount++] = BOXMANUAL;
ACTIVE_THIS_BOX(BOXMANUAL);
}
if (STATE(AIRPLANE)) {
if (!feature(FEATURE_FW_LAUNCH)) {
activeBoxIds[activeBoxIdCount++] = BOXNAVLAUNCH;
ACTIVE_THIS_BOX(BOXNAVLAUNCH);
}
if (!feature(FEATURE_FW_AUTOTRIM)) {
activeBoxIds[activeBoxIdCount++] = BOXAUTOTRIM;
ACTIVE_THIS_BOX(BOXAUTOTRIM);
}
#if defined(USE_AUTOTUNE_FIXED_WING)
activeBoxIds[activeBoxIdCount++] = BOXAUTOTUNE;
ACTIVE_THIS_BOX(BOXAUTOTUNE);
#endif
if (sensors(SENSOR_BARO)) {
activeBoxIds[activeBoxIdCount++] = BOXAUTOLEVEL;
ACTIVE_THIS_BOX(BOXAUTOLEVEL);
}
}
@ -265,68 +268,70 @@ void initActiveBoxIds(void)
* flying wing can cause bad thing
*/
if (STATE(FLAPERON_AVAILABLE)) {
activeBoxIds[activeBoxIdCount++] = BOXFLAPERON;
ACTIVE_THIS_BOX(BOXFLAPERON);
}
activeBoxIds[activeBoxIdCount++] = BOXBEEPERON;
ACTIVE_THIS_BOX(BOXBEEPERON);
#ifdef USE_LIGHTS
activeBoxIds[activeBoxIdCount++] = BOXLIGHTS;
ACTIVE_THIS_BOX(BOXLIGHTS);
#endif
#ifdef USE_LED_STRIP
if (feature(FEATURE_LED_STRIP)) {
activeBoxIds[activeBoxIdCount++] = BOXLEDLOW;
ACTIVE_THIS_BOX(BOXLEDLOW);
}
#endif
activeBoxIds[activeBoxIdCount++] = BOXOSD;
ACTIVE_THIS_BOX(BOXOSD);
#ifdef USE_TELEMETRY
if (feature(FEATURE_TELEMETRY) && telemetryConfig()->telemetry_switch)
activeBoxIds[activeBoxIdCount++] = BOXTELEMETRY;
if (feature(FEATURE_TELEMETRY) && telemetryConfig()->telemetry_switch) {
ACTIVE_THIS_BOX(BOXTELEMETRY);
}
#endif
#ifdef USE_BLACKBOX
if (feature(FEATURE_BLACKBOX)){
activeBoxIds[activeBoxIdCount++] = BOXBLACKBOX;
if (feature(FEATURE_BLACKBOX)) {
ACTIVE_THIS_BOX(BOXBLACKBOX);
}
#endif
activeBoxIds[activeBoxIdCount++] = BOXKILLSWITCH;
activeBoxIds[activeBoxIdCount++] = BOXFAILSAFE;
ACTIVE_THIS_BOX(BOXKILLSWITCH);
ACTIVE_THIS_BOX(BOXFAILSAFE);
#ifdef USE_RCDEVICE
activeBoxIds[activeBoxIdCount++] = BOXCAMERA1;
activeBoxIds[activeBoxIdCount++] = BOXCAMERA2;
activeBoxIds[activeBoxIdCount++] = BOXCAMERA3;
ACTIVE_THIS_BOX(BOXCAMERA1);
ACTIVE_THIS_BOX(BOXCAMERA2);
ACTIVE_THIS_BOX(BOXCAMERA3);
#endif
#ifdef USE_PINIOBOX
// USER modes are only used for PINIO at the moment
activeBoxIds[activeBoxIdCount++] = BOXUSER1;
activeBoxIds[activeBoxIdCount++] = BOXUSER2;
ACTIVE_THIS_BOX(BOXUSER1);
ACTIVE_THIS_BOX(BOXUSER2);
#endif
#if defined(USE_OSD) && defined(OSD_LAYOUT_COUNT)
#if OSD_LAYOUT_COUNT > 0
activeBoxIds[activeBoxIdCount++] = BOXOSDALT1;
ACTIVE_THIS_BOX(BOXOSDALT1);
#if OSD_LAYOUT_COUNT > 1
activeBoxIds[activeBoxIdCount++] = BOXOSDALT2;
ACTIVE_THIS_BOX(BOXOSDALT2);
#if OSD_LAYOUT_COUNT > 2
activeBoxIds[activeBoxIdCount++] = BOXOSDALT3;
ACTIVE_THIS_BOX(BOXOSDALT3);
#endif
#endif
#endif
#endif
#if defined(USE_RX_MSP) && defined(USE_MSP_RC_OVERRIDE)
activeBoxIds[activeBoxIdCount++] = BOXMSPRCOVERRIDE;
ACTIVE_THIS_BOX(BOXMSPRCOVERRIDE);
#endif
#ifdef USE_DSHOT
if(STATE(MULTIROTOR) && isMotorProtocolDshot())
activeBoxIds[activeBoxIdCount++] = BOXTURTLE;
if(STATE(MULTIROTOR) && isMotorProtocolDshot()) {
ACTIVE_THIS_BOX(BOXTURTLE);
}
#endif
}
@ -404,14 +409,14 @@ uint16_t packSensorStatus(void)
{
// Sensor bits
uint16_t sensorStatus =
IS_ENABLED(sensors(SENSOR_ACC)) << 0 |
IS_ENABLED(sensors(SENSOR_BARO)) << 1 |
IS_ENABLED(sensors(SENSOR_MAG)) << 2 |
IS_ENABLED(sensors(SENSOR_GPS)) << 3 |
IS_ENABLED(sensors(SENSOR_RANGEFINDER)) << 4 |
IS_ENABLED(sensors(SENSOR_OPFLOW)) << 5 |
IS_ENABLED(sensors(SENSOR_PITOT)) << 6 |
IS_ENABLED(sensors(SENSOR_TEMP)) << 7;
IS_ENABLED(sensors(SENSOR_ACC)) << 0 |
IS_ENABLED(sensors(SENSOR_BARO)) << 1 |
IS_ENABLED(sensors(SENSOR_MAG)) << 2 |
IS_ENABLED(sensors(SENSOR_GPS)) << 3 |
IS_ENABLED(sensors(SENSOR_RANGEFINDER)) << 4 |
IS_ENABLED(sensors(SENSOR_OPFLOW)) << 5 |
IS_ENABLED(sensors(SENSOR_PITOT)) << 6 |
IS_ENABLED(sensors(SENSOR_TEMP)) << 7;
// Hardware failure indication bit
if (!isHardwareHealthy()) {