Added Logic AND to Modes

Added Mode Inversion configuration, CLI commands, and update.
Changed Mode Inversion to Mode Logic.
configure by AND/OR instead of output inversion.
Fixed Mode Logic code after debugging.
Added PG_REGISTER to cli unittest.
Revert version to previous.
Revamped Mode Logic using existing Conditions config.
Requires coordination with BF-configurator, but works with CLI (added argument in 'aux' command).
Coding standard changes.
Cleaned up code. Added modeLogic enum.
removed executable permissions.
Code cleanup, cliAux backward compatible.
changed bitArrayInv to bitArrayXor.
allow for old 'aux' command (without last argument) to be made. asserts MODELOGIC_OR instead of resetting the memory.

src/main/common/bitarray.c

@@ -17,6 +17,7 @@
 
 #include <stdint.h>
 #include <stdbool.h>
+#include <string.h>
 
 #include "bitarray.h"
 
@@ -36,3 +37,10 @@ void bitArrayClr(void *array, unsigned bit)
 {
     BITARRAY_BIT_OP((uint32_t*)array, bit, &=~);
 }
+
+void bitArrayXor(void *dest, size_t size, void *op1, void *op2)
+{
+    for (size_t i = 0; i < size; i++) {
+        ((uint8_t*)dest)[i] = ((uint8_t*)op1)[i] ^ ((uint8_t*)op2)[i];
+    }
+}

src/main/common/bitarray.h

@@ -20,3 +20,4 @@
 bool bitArrayGet(const void *array, unsigned bit);
 void bitArraySet(void *array, unsigned bit);
 void bitArrayClr(void *array, unsigned bit);
+void bitArrayXor(void *dest, size_t size, void *op1, void *op2);

src/main/fc/rc_modes.c

@@ -40,7 +40,6 @@ boxBitmask_t rcModeActivationMask; // one bit per mode defined in boxId_e
 PG_REGISTER_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions,
                   PG_MODE_ACTIVATION_PROFILE, 0);
 
-
 bool IS_RC_MODE_ACTIVE(boxId_e boxId)
 {
     return bitArrayGet(&rcModeActivationMask, boxId);
@@ -72,29 +71,35 @@ bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range) {
 
 void updateActivatedModes(void)
 {
-    boxBitmask_t newMask;
+    boxBitmask_t newMask, andMask;
     memset(&newMask, 0, sizeof(newMask));
+    memset(&andMask, 0, sizeof(andMask));
 
-    for (int index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
+    // determine which conditions set/clear the mode
-        const modeActivationCondition_t *modeActivationCondition = modeActivationConditions(index);
+    for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
+        const modeActivationCondition_t *mac = modeActivationConditions(i);
 
-        if (isRangeActive(modeActivationCondition->auxChannelIndex, &modeActivationCondition->range)) {
+        boxId_e mode = mac->modeId;
-            boxId_e mode = modeActivationCondition->modeId;
+        if (mode < CHECKBOX_ITEM_COUNT) {
-            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)
                 bitArraySet(&newMask, mode);
         }
     }
+    bitArrayXor(&newMask, sizeof(&newMask), &newMask, &andMask);
+
     rcModeUpdate(&newMask);
 }
 
 bool isModeActivationConditionPresent(boxId_e modeId)
 {
-    uint8_t index;
+    for (int i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
+        const modeActivationCondition_t *mac = modeActivationConditions(i);
 
-    for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) {
+        if (mac->modeId == modeId && IS_RANGE_USABLE(&mac->range)) {
-        const modeActivationCondition_t *modeActivationCondition = modeActivationConditions(index);
-
-        if (modeActivationCondition->modeId == modeId && IS_RANGE_USABLE(&modeActivationCondition->range)) {
             return true;
         }
     }

src/main/fc/rc_modes.h

@@ -65,6 +65,11 @@ typedef enum {
     CHECKBOX_ITEM_COUNT
 } boxId_e;
 
+typedef enum {
+    MODELOGIC_OR = 0,
+    MODELOGIC_AND
+} modeLogic_e;
+
 // type to hold enough bits for CHECKBOX_ITEM_COUNT. Struct used for value-like behavior
 typedef struct boxBitmask_s { uint32_t bits[(CHECKBOX_ITEM_COUNT + 31) / 32]; } boxBitmask_t;
 
@@ -82,7 +87,7 @@ typedef struct boxBitmask_s { uint32_t bits[(CHECKBOX_ITEM_COUNT + 31) / 32]; }
 // steps are 25 apart
 // a value of 0 corresponds to a channel value of 900 or less
 // a value of 48 corresponds to a channel value of 2100 or more
-// 48 steps between 900 and 1200
+// 48 steps between 900 and 2100
 typedef struct channelRange_s {
     uint8_t startStep;
     uint8_t endStep;
@@ -92,6 +97,7 @@ typedef struct modeActivationCondition_s {
     boxId_e modeId;
     uint8_t auxChannelIndex;
     channelRange_t range;
+    modeLogic_e modeLogic;
 } modeActivationCondition_t;
 
 PG_DECLARE_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions);

src/main/interface/cli.c

@@ -689,7 +689,7 @@ static void cliRxFailsafe(char *cmdline)
 
 static void printAux(uint8_t dumpMask, const modeActivationCondition_t *modeActivationConditions, const modeActivationCondition_t *defaultModeActivationConditions)
 {
-    const char *format = "aux %u %u %u %u %u";
+    const char *format = "aux %u %u %u %u %u %u";
     // print out aux channel settings
     for (uint32_t i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
         const modeActivationCondition_t *mac = &modeActivationConditions[i];
@@ -699,7 +699,8 @@ static void printAux(uint8_t dumpMask, const modeActivationCondition_t *modeActi
             equalsDefault = mac->modeId == macDefault->modeId
                 && mac->auxChannelIndex == macDefault->auxChannelIndex
                 && mac->range.startStep == macDefault->range.startStep
-                && mac->range.endStep == macDefault->range.endStep;
+                && mac->range.endStep == macDefault->range.endStep
+                && mac->modeLogic == macDefault->modeLogic;
             const box_t *box = findBoxByBoxId(macDefault->modeId);
             if (box) {
                 cliDefaultPrintLinef(dumpMask, equalsDefault, format,
@@ -707,7 +708,8 @@ static void printAux(uint8_t dumpMask, const modeActivationCondition_t *modeActi
                     box->permanentId,
                     macDefault->auxChannelIndex,
                     MODE_STEP_TO_CHANNEL_VALUE(macDefault->range.startStep),
-                    MODE_STEP_TO_CHANNEL_VALUE(macDefault->range.endStep)
+                    MODE_STEP_TO_CHANNEL_VALUE(macDefault->range.endStep),
+                    macDefault->modeLogic
                 );
             }
         }
@@ -718,7 +720,8 @@ static void printAux(uint8_t dumpMask, const modeActivationCondition_t *modeActi
                 box->permanentId,
                 mac->auxChannelIndex,
                 MODE_STEP_TO_CHANNEL_VALUE(mac->range.startStep),
-                MODE_STEP_TO_CHANNEL_VALUE(mac->range.endStep)
+                MODE_STEP_TO_CHANNEL_VALUE(mac->range.endStep),
+                mac->modeLogic
             );
         }
     }
@@ -755,10 +758,27 @@ static void cliAux(char *cmdline)
                 }
             }
             ptr = processChannelRangeArgs(ptr, &mac->range, &validArgumentCount);
-
+            ptr = nextArg(ptr);
-            if (validArgumentCount != 4) {
+            if (ptr) {
+                val = atoi(ptr);
+                if (val == MODELOGIC_OR || val == MODELOGIC_AND) {
+                    mac->modeLogic = val;
+                    validArgumentCount++;
+                }
+            }
+            if (validArgumentCount == 4) { // for backwards compatibility
+                mac->modeLogic = MODELOGIC_OR;
+            } else if (validArgumentCount != 5) {
                 memset(mac, 0, sizeof(modeActivationCondition_t));
             }
+            cliPrintLinef( "aux %u %u %u %u %u %u",
+                i,
+                mac->modeId,
+                mac->auxChannelIndex,
+                MODE_STEP_TO_CHANNEL_VALUE(mac->range.startStep),
+                MODE_STEP_TO_CHANNEL_VALUE(mac->range.endStep),
+                mac->modeLogic
+            );
         } else {
             cliShowArgumentRangeError("index", 0, MAX_MODE_ACTIVATION_CONDITION_COUNT - 1);
         }
@@ -3622,7 +3642,7 @@ static void cliHelp(char *cmdline);
 // should be sorted a..z for bsearch()
 const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("adjrange", "configure adjustment ranges", NULL, cliAdjustmentRange),
-    CLI_COMMAND_DEF("aux", "configure modes", NULL, cliAux),
+    CLI_COMMAND_DEF("aux", "configure modes", "<index> <mode> <aux> <start> <end> <logic>", cliAux),
 #ifdef BEEPER
     CLI_COMMAND_DEF("beeper", "turn on/off beeper", "list\r\n"
         "\t<+|->[name]", cliBeeper),