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Allow linking of modes

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This allows modes to be linked, for example to link vtx pit mode to paralyze. Whenever paralyze is activated, vtx pit mode is activated as well. Also the logic to prevent mode changes when enabling paralyze can be removed in favor of making paralyze sticky.

Modes can be linked in CLI by providing the mode id as the last parameter of the aux command. For example in order to link vtx pit mode to paralyze, replace the last 0 of the pit mode aux (39) with the mode id of paralyze (45):

```
aux 2 39 2 1700 2100 0 0
```

becomes

```
aux 2 39 2 1700 2100 0 45
```

_Legal disclaimer: I am making my contributions/submissions to this project solely in my personal capacity and am not conveying any rights to any intellectual property of any third parties._
This commit is contained in:
Robert Lacroix 2018-07-11 12:04:11 +02:00
parent ac2f39a10c
commit aa18ab4afa
7 changed files with 130 additions and 58 deletions
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63
src/main/fc/rc_modes.c
View file

@ -40,7 +40,8 @@
#include "rx/rx.h"
boxBitmask_t rcModeActivationMask; // one bit per mode defined in boxId_e
static bool modeChangesDisabled = false;
static bool paralyzeModeEverDisabled = false;
PG_REGISTER_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions,
PG_MODE_ACTIVATION_PROFILE, 1);
@ -55,10 +56,6 @@ void rcModeUpdate(boxBitmask_t *newState)
rcModeActivationMask = *newState;
}
void preventModeChanges(void) {
modeChangesDisabled = true;
}
bool isAirmodeActive(void) {
return (IS_RC_MODE_ACTIVE(BOXAIRMODE) || feature(FEATURE_AIRMODE));
}
@ -77,17 +74,22 @@ bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range) {
channelValue < 900 + (range->endStep * 25));
}
void updateMasksForMac(const modeActivationCondition_t *mac, boxBitmask_t *andMask, boxBitmask_t *newMask) {
boxId_e mode = mac->modeId;
bool bAnd = (mac->modeLogic == MODELOGIC_AND) || bitArrayGet(andMask, mode);
bool bAct = isRangeActive(mac->auxChannelIndex, &mac->range);
if (bAnd)
bitArraySet(andMask, mode);
if (bAnd != bAct)
bitArraySet(newMask, mode);
}
void updateActivatedModes(void)
{
boxBitmask_t newMask, andMask;
memset(&andMask, 0, sizeof(andMask));
if (!modeChangesDisabled) {
memset(&newMask, 0, sizeof(newMask));
} else {
memcpy(&newMask, &rcModeActivationMask, sizeof(newMask));
}
memset(&newMask, 0, sizeof(newMask));
// determine which conditions set/clear the mode
for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
@ -95,21 +97,44 @@ void updateActivatedModes(void)
boxId_e mode = mac->modeId;
if (modeChangesDisabled && mode != BOXBEEPERON) {
// Skip linked macs for now to fully determine target states
boxId_e linkedTo = mac->linkedTo;
if (linkedTo) {
continue;
}
if (mode < CHECKBOX_ITEM_COUNT) {
bool bAnd = (mac->modeLogic == MODELOGIC_AND) || bitArrayGet(&andMask, mode);
bool bAct = isRangeActive(mac->auxChannelIndex, &mac->range);
if (bAnd)
bitArraySet(&andMask, mode);
if (bAnd != bAct)
// Ensure sticky modes are sticky
if (mode == BOXPARALYZE) {
if (IS_RC_MODE_ACTIVE(BOXPARALYZE)) {
bitArrayClr(&andMask, mode);
bitArraySet(&newMask, mode);
} else {
if (paralyzeModeEverDisabled) {
updateMasksForMac(mac, &andMask, &newMask);
} else {
paralyzeModeEverDisabled = !isRangeActive(mac->auxChannelIndex, &mac->range);
}
}
} else if (mode < CHECKBOX_ITEM_COUNT) {
updateMasksForMac(mac, &andMask, &newMask);
}
}
bitArrayXor(&newMask, sizeof(&newMask), &newMask, &andMask);
// Update linked modes
for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
const modeActivationCondition_t *mac = modeActivationConditions(i);
boxId_e linkedTo = mac->linkedTo;
if (!linkedTo) {
continue;
}
boxId_e mode = mac->modeId;
bitArrayCopy(&newMask, linkedTo, mode);
}
rcModeUpdate(&newMask);
}
@ -118,7 +143,7 @@ bool isModeActivationConditionPresent(boxId_e modeId)
for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
const modeActivationCondition_t *mac = modeActivationConditions(i);
if (mac->modeId == modeId && IS_RANGE_USABLE(&mac->range)) {
if (mac->modeId == modeId && (IS_RANGE_USABLE(&mac->range) || mac->linkedTo)) {
return true;
}
}