src/main/msp/msp_box.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include <stdbool.h>
  22 #include <stdint.h>
  23 #include <string.h>
  24
  25 #include "platform.h"
  26
  27 #include "common/bitarray.h"
  28 #include "common/streambuf.h"
  29 #include "common/utils.h"
  30
  31 #include "config/feature.h"
  32
  33 #include "config/config.h"
  34 #include "fc/runtime_config.h"
  35
  36 #include "flight/mixer.h"
  37 #include "flight/pid.h"
  38
  39 #include "sensors/sensors.h"
  40
  41 #include "telemetry/telemetry.h"
  42
  43 #include "pg/piniobox.h"
  44
  45 #include "msp_box.h"
  46
  47
  48 // permanent IDs must uniquely identify BOX meaning, DO NOT REUSE THEM!
  49 static const box_t boxes[CHECKBOX_ITEM_COUNT] = {
  50     { BOXARM, "ARM", 0 },
  51     { BOXANGLE, "ANGLE", 1 },
  52     { BOXHORIZON, "HORIZON", 2 },
  53 //    { BOXBARO, "BARO", 3 },
  54     { BOXANTIGRAVITY, "ANTI GRAVITY", 4 },
  55     { BOXMAG, "MAG", 5 },
  56     { BOXHEADFREE, "HEADFREE", 6 },
  57     { BOXHEADADJ, "HEADADJ", 7 },
  58     { BOXCAMSTAB, "CAMSTAB", 8 },
  59 //    { BOXCAMTRIG, "CAMTRIG", 9 },
  60 //    { BOXGPSHOME, "GPS HOME", 10 },
  61 //    { BOXGPSHOLD, "GPS HOLD", 11 },
  62     { BOXPASSTHRU, "PASSTHRU", 12 },
  63     { BOXBEEPERON, "BEEPER", 13 },
  64 //    { BOXLEDMAX, "LEDMAX", 14 }, (removed)
  65     { BOXLEDLOW, "LEDLOW", 15 },
  66 //    { BOXLLIGHTS, "LLIGHTS", 16 }, (removed)
  67     { BOXCALIB, "CALIB", 17 },
  68 //    { BOXGOV, "GOVERNOR", 18 }, (removed)
  69     { BOXOSD, "OSD DISABLE SW", 19 },
  70     { BOXTELEMETRY, "TELEMETRY", 20 },
  71 //    { BOXGTUNE, "GTUNE", 21 }, (removed)
  72 //    { BOXRANGEFINDER, "RANGEFINDER", 22 }, (removed)
  73     { BOXSERVO1, "SERVO1", 23 },
  74     { BOXSERVO2, "SERVO2", 24 },
  75     { BOXSERVO3, "SERVO3", 25 },
  76     { BOXBLACKBOX, "BLACKBOX", 26 },
  77     { BOXFAILSAFE, "FAILSAFE", 27 },
  78     { BOXAIRMODE, "AIR MODE", 28 },
  79     { BOX3D, "DISABLE / SWITCH 3D", 29},
  80     { BOXFPVANGLEMIX, "FPV ANGLE MIX", 30},
  81     { BOXBLACKBOXERASE, "BLACKBOX ERASE (>30s)", 31 },
  82     { BOXCAMERA1, "CAMERA CONTROL 1", 32},
  83     { BOXCAMERA2, "CAMERA CONTROL 2", 33},
  84     { BOXCAMERA3, "CAMERA CONTROL 3", 34 },
  85     { BOXFLIPOVERAFTERCRASH, "FLIP OVER AFTER CRASH", 35 },
  86     { BOXPREARM, "PREARM", 36 },
  87     { BOXBEEPGPSCOUNT, "BEEP GPS SATELLITE COUNT", 37 },
  88 //    { BOX3DONASWITCH, "3D ON A SWITCH", 38 }, (removed)
  89     { BOXVTXPITMODE, "VTX PIT MODE", 39 },
  90     { BOXUSER1, "USER1", 40 },
  91     { BOXUSER2, "USER2", 41 },
  92     { BOXUSER3, "USER3", 42 },
  93     { BOXUSER4, "USER4", 43 },
  94     { BOXPIDAUDIO, "PID AUDIO", 44 },
  95     { BOXPARALYZE, "PARALYZE", 45 },
  96     { BOXGPSRESCUE, "GPS RESCUE", 46 },
  97     { BOXACROTRAINER, "ACRO TRAINER", 47 },
  98     { BOXVTXCONTROLDISABLE, "DISABLE VTX CONTROL", 48},
  99     { BOXLAUNCHCONTROL, "LAUNCH CONTROL", 49 },
 100 };
 101
 102 // mask of enabled IDs, calculated on startup based on enabled features. boxId_e is used as bit index
 103
 104 static boxBitmask_t activeBoxIds;
 105
 106 const box_t *findBoxByBoxId(boxId_e boxId)
 107 {
 108     for (unsigned i = 0; i < ARRAYLEN(boxes); i++) {
 109         const box_t *candidate = &boxes[i];
 110         if (candidate->boxId == boxId)
 111             return candidate;
 112     }
 113     return NULL;
 114 }
 115
 116 const box_t *findBoxByPermanentId(uint8_t permanentId)
 117 {
 118     for (unsigned i = 0; i < ARRAYLEN(boxes); i++) {
 119         const box_t *candidate = &boxes[i];
 120         if (candidate->permanentId == permanentId)
 121             return candidate;
 122     }
 123     return NULL;
 124 }
 125
 126 static bool activeBoxIdGet(boxId_e boxId)
 127 {
 128     if (boxId > sizeof(activeBoxIds) * 8) {
 129         return false;
 130     }
 131
 132     return bitArrayGet(&activeBoxIds, boxId);
 133 }
 134
 135 void serializeBoxNameFn(sbuf_t *dst, const box_t *box)
 136 {
 137 #if defined(USE_CUSTOM_BOX_NAMES)
 138     if (box->boxId == BOXUSER1 && strlen(modeActivationConfig()->box_user_1_name) > 0) {
 139         sbufWriteString(dst, modeActivationConfig()->box_user_1_name);
 140     } else if (box->boxId == BOXUSER2 && strlen(modeActivationConfig()->box_user_2_name) > 0) {
 141         sbufWriteString(dst, modeActivationConfig()->box_user_2_name);
 142     } else if (box->boxId == BOXUSER3 && strlen(modeActivationConfig()->box_user_3_name) > 0) {
 143         sbufWriteString(dst, modeActivationConfig()->box_user_3_name);
 144     } else if (box->boxId == BOXUSER4 && strlen(modeActivationConfig()->box_user_4_name) > 0) {
 145         sbufWriteString(dst, modeActivationConfig()->box_user_4_name);
 146     } else
 147 #endif
 148     {
 149         sbufWriteString(dst, box->boxName);
 150     }
 151     sbufWriteU8(dst, ';');
 152 }
 153
 154 void serializeBoxPermanentIdFn(sbuf_t *dst, const box_t *box)
 155 {
 156     sbufWriteU8(dst, box->permanentId);
 157 }
 158
 159 // serialize 'page' of boxNames.
 160 // Each page contains at most 32 boxes
 161 void serializeBoxReply(sbuf_t *dst, int page, serializeBoxFn *serializeBox)
 162 {
 163     unsigned boxIdx = 0;
 164     unsigned pageStart = page * 32;
 165     unsigned pageEnd = pageStart + 32;
 166     for (boxId_e id = 0; id < CHECKBOX_ITEM_COUNT; id++) {
 167         if (activeBoxIdGet(id)) {
 168             if (boxIdx >= pageStart && boxIdx < pageEnd) {
 169                 (*serializeBox)(dst, findBoxByBoxId(id));
 170             }
 171             boxIdx++;                 // count active boxes
 172         }
 173     }
 174 }
 175
 176 void initActiveBoxIds(void)
 177 {
 178     // calculate used boxes based on features and set corresponding activeBoxIds bits
 179     boxBitmask_t ena;  // temporary variable to collect result
 180     memset(&ena, 0, sizeof(ena));
 181
 182     // macro to enable boxId (BoxidMaskEnable). Reference to ena is hidden, local use only
 183 #define BME(boxId) do { bitArraySet(&ena, boxId); } while (0)
 184     BME(BOXARM);
 185     BME(BOXPREARM);
 186     if (!featureIsEnabled(FEATURE_AIRMODE)) {
 187         BME(BOXAIRMODE);
 188     }
 189
 190     bool acceleratorGainsEnabled = false;
 191     for (unsigned i = 0; i < PID_PROFILE_COUNT; i++) {
 192         if (pidProfiles(i)->itermAcceleratorGain != ITERM_ACCELERATOR_GAIN_OFF) {
 193             acceleratorGainsEnabled = true;
 194         }
 195     }
 196     if (acceleratorGainsEnabled && !featureIsEnabled(FEATURE_ANTI_GRAVITY)) {
 197         BME(BOXANTIGRAVITY);
 198     }
 199
 200     if (sensors(SENSOR_ACC)) {
 201         BME(BOXANGLE);
 202         BME(BOXHORIZON);
 203         BME(BOXHEADFREE);
 204         BME(BOXHEADADJ);
 205     }
 206
 207 #ifdef USE_MAG
 208     if (sensors(SENSOR_MAG)) {
 209         BME(BOXMAG);
 210     }
 211 #endif
 212
 213 #ifdef USE_GPS
 214     if (featureIsEnabled(FEATURE_GPS)) {
 215 #ifdef USE_GPS_RESCUE
 216         if (!featureIsEnabled(FEATURE_3D)) {
 217             BME(BOXGPSRESCUE);
 218         }
 219 #endif
 220         BME(BOXBEEPGPSCOUNT);
 221     }
 222 #endif
 223
 224     BME(BOXFAILSAFE);
 225
 226     if (mixerConfig()->mixerMode == MIXER_FLYING_WING || mixerConfig()->mixerMode == MIXER_AIRPLANE || mixerConfig()->mixerMode == MIXER_CUSTOM_AIRPLANE) {
 227         BME(BOXPASSTHRU);
 228     }
 229
 230     BME(BOXBEEPERON);
 231
 232 #ifdef USE_LED_STRIP
 233     if (featureIsEnabled(FEATURE_LED_STRIP)) {
 234         BME(BOXLEDLOW);
 235     }
 236 #endif
 237
 238 #ifdef USE_BLACKBOX
 239     BME(BOXBLACKBOX);
 240 #ifdef USE_FLASHFS
 241     BME(BOXBLACKBOXERASE);
 242 #endif
 243 #endif
 244
 245     BME(BOXFPVANGLEMIX);
 246
 247     if (featureIsEnabled(FEATURE_3D)) {
 248         BME(BOX3D);
 249     }
 250
 251 #ifdef USE_DSHOT
 252     bool configuredMotorProtocolDshot;
 253     checkMotorProtocolEnabled(&motorConfig()->dev, &configuredMotorProtocolDshot);
 254     if (configuredMotorProtocolDshot) {
 255         BME(BOXFLIPOVERAFTERCRASH);
 256     }
 257 #endif
 258
 259     if (featureIsEnabled(FEATURE_SERVO_TILT)) {
 260         BME(BOXCAMSTAB);
 261     }
 262
 263     if (featureIsEnabled(FEATURE_INFLIGHT_ACC_CAL)) {
 264         BME(BOXCALIB);
 265     }
 266
 267     BME(BOXOSD);
 268
 269 #ifdef USE_TELEMETRY
 270     if (featureIsEnabled(FEATURE_TELEMETRY)) {
 271         BME(BOXTELEMETRY);
 272     }
 273 #endif
 274
 275 #ifdef USE_SERVOS
 276     if (mixerConfig()->mixerMode == MIXER_CUSTOM_AIRPLANE) {
 277         BME(BOXSERVO1);
 278         BME(BOXSERVO2);
 279         BME(BOXSERVO3);
 280     }
 281 #endif
 282
 283 #ifdef USE_RCDEVICE
 284     BME(BOXCAMERA1);
 285     BME(BOXCAMERA2);
 286     BME(BOXCAMERA3);
 287 #endif
 288
 289 #if defined(USE_VTX_SMARTAUDIO) || defined(USE_VTX_TRAMP)
 290     BME(BOXVTXPITMODE);
 291     BME(BOXVTXCONTROLDISABLE);
 292 #endif
 293
 294     BME(BOXPARALYZE);
 295
 296 #ifdef USE_PINIOBOX
 297     // Turn BOXUSERx only if pinioBox facility monitors them, as the facility is the only BOXUSERx observer.
 298     // Note that pinioBoxConfig can be set to monitor any box.
 299     for (int i = 0; i < PINIO_COUNT; i++) {
 300         if (pinioBoxConfig()->permanentId[i] != PERMANENT_ID_NONE) {
 301             const box_t *box = findBoxByPermanentId(pinioBoxConfig()->permanentId[i]);
 302             if (box) {
 303                 switch(box->boxId) {
 304                 case BOXUSER1:
 305                 case BOXUSER2:
 306                 case BOXUSER3:
 307                 case BOXUSER4:
 308                     BME(box->boxId);
 309                     break;
 310                 default:
 311                     break;
 312                 }
 313             }
 314         }
 315     }
 316 #endif
 317
 318 #if defined(USE_PID_AUDIO)
 319     BME(BOXPIDAUDIO);
 320 #endif
 321
 322 #if defined(USE_ACRO_TRAINER) && defined(USE_ACC)
 323     if (sensors(SENSOR_ACC)) {
 324         BME(BOXACROTRAINER);
 325     }
 326 #endif // USE_ACRO_TRAINER
 327
 328 #ifdef USE_LAUNCH_CONTROL
 329     BME(BOXLAUNCHCONTROL);
 330 #endif
 331
 332 #undef BME
 333     // check that all enabled IDs are in boxes array (check may be skipped when using findBoxById() functions)
 334     for (boxId_e boxId = 0;  boxId < CHECKBOX_ITEM_COUNT; boxId++)
 335         if (bitArrayGet(&ena, boxId)
 336             && findBoxByBoxId(boxId) == NULL)
 337             bitArrayClr(&ena, boxId);                 // this should not happen, but handle it gracefully
 338
 339     activeBoxIds = ena;                               // set global variable
 340 }
 341
 342 // return state of given boxId box, handling ARM and FLIGHT_MODE
 343 bool getBoxIdState(boxId_e boxid)
 344 {
 345     const uint8_t boxIdToFlightModeMap[] = BOXID_TO_FLIGHT_MODE_MAP_INITIALIZER;
 346
 347     // we assume that all boxId below BOXID_FLIGHTMODE_LAST except BOXARM are mapped to flightmode
 348     STATIC_ASSERT(ARRAYLEN(boxIdToFlightModeMap) == BOXID_FLIGHTMODE_LAST + 1, FLIGHT_MODE_BOXID_MAP_INITIALIZER_does_not_match_boxId_e);
 349
 350     if (boxid == BOXARM) {
 351         return ARMING_FLAG(ARMED);
 352     } else if (boxid <= BOXID_FLIGHTMODE_LAST) {
 353         return FLIGHT_MODE(1 << boxIdToFlightModeMap[boxid]);
 354     } else {
 355         return IS_RC_MODE_ACTIVE(boxid);
 356     }
 357 }
 358
 359 // pack used flightModeFlags into supplied array
 360 // returns number of bits used
 361 int packFlightModeFlags(boxBitmask_t *mspFlightModeFlags)
 362 {
 363     // Serialize the flags in the order we delivered them, ignoring BOXNAMES and BOXINDEXES
 364     memset(mspFlightModeFlags, 0, sizeof(boxBitmask_t));
 365     // map boxId_e enabled bits to MSP status indexes
 366     // only active boxIds are sent in status over MSP, other bits are not counted
 367     unsigned mspBoxIdx = 0;           // index of active boxId (matches sent permanentId and boxNames)
 368     for (boxId_e boxId = 0; boxId < CHECKBOX_ITEM_COUNT; boxId++) {
 369         if (activeBoxIdGet(boxId)) {
 370             if (getBoxIdState(boxId))
 371                 bitArraySet(mspFlightModeFlags, mspBoxIdx);       // box is enabled
 372             mspBoxIdx++;                                          // box is active, count it
 373         }
 374     }
 375     // return count of used bits
 376     return mspBoxIdx;
 377 }