Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-24 00:35:34 +03:00
Code Issues Wiki Activity

Logic Conditions integration

Browse source
This commit is contained in:
Pawel Spychalski (DzikuVx) 2020-07-20 20:11:50 +02:00
parent d85693cd98
commit 2e3f67f635
9 changed files with 142 additions and 35 deletions
Download patch file Download diff file Expand all files Collapse all files

1
make/source.mk
View file

@ -46,6 +46,7 @@ COMMON_SRC = \
drivers/io.c \
drivers/io_pca9685.c \
drivers/io_pcf8574.c \
drivers/io_port_expander.c \
drivers/irlock.c \
drivers/light_led.c \
drivers/osd.c \

6
src/main/drivers/io_pcf8574.c
View file

@ -29,8 +29,6 @@
#include "drivers/time.h"
#include "build/debug.h"
#ifdef USE_PCF8574
#define PCF8574_WRITE_ADDRESS 0x40
#define PCF8574_READ_ADDRESS 0x41
@ -70,8 +68,6 @@ bool pcf8574Init(void)
return false;
}
pcf8574Write(0x00); //Set all ports to OFF
delay(25);
return true;
}
@ -86,5 +82,3 @@ uint8_t pcf8574Read(void)
busRead(busDev, PCF8574_READ_ADDRESS, &data);
return data;
}
#endif

67
src/main/drivers/io_port_expander.c Normal file
View file

@ -0,0 +1,67 @@
/*
* This file is part of INAV.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this file,
* You can obtain one at http://mozilla.org/MPL/2.0/.
*
* Alternatively, the contents of this file may be used under the terms
* of the GNU General Public License Version 3, as described below:
*
* This file is free software: you may copy, redistribute and/or modify
* it under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or (at your
* option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see http://www.gnu.org/licenses/.
*/
#include <stdbool.h>
#include "platform.h"
#include "drivers/io_port_expander.h"
#include "drivers/io_pcf8574.h"
#ifdef USE_I2C_IO_EXPANDER
static ioPortExpanderState_t ioPortExpanderState;
void ioPortExpanderInit(void)
{
ioPortExpanderState.active = pcf8574Init();
if (ioPortExpanderState.active) {
ioPortExpanderState.state = 0x00;
pcf8574Write(ioPortExpanderState.state); //Set all ports to OFF
}
}
void ioPortExpanderSet(uint8_t pin, uint8_t value)
{
if (pin > 7) {
return;
}
//Cast to 0/1
value = (bool) value;
ioPortExpanderState.state ^= (-value ^ ioPortExpanderState.state) & (1UL << pin);
ioPortExpanderState.shouldSync = true;
}
void ioPortExpanderSync(void)
{
if (ioPortExpanderState.active && ioPortExpanderState.shouldSync) {
pcf8574Write(ioPortExpanderState.state);
ioPortExpanderState.shouldSync = false;;
}
}
#endif

37
src/main/drivers/io_port_expander.h Normal file
View file

@ -0,0 +1,37 @@
/*
* This file is part of INAV.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this file,
* You can obtain one at http://mozilla.org/MPL/2.0/.
*
* Alternatively, the contents of this file may be used under the terms
* of the GNU General Public License Version 3, as described below:
*
* This file is free software: you may copy, redistribute and/or modify
* it under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or (at your
* option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see http://www.gnu.org/licenses/.
*/
#pragma once
#include "stdint.h"
typedef struct ioPortExpanderState_s {
uint8_t active;
uint8_t state;
uint8_t shouldSync;
} ioPortExpanderState_t;
void ioPortExpanderInit(void);
void ioPortExpanderSync(void);
void ioPortExpanderSet(uint8_t pin, uint8_t value);

7
src/main/fc/fc_init.c
View file

@ -83,7 +83,7 @@
#include "msc/emfat_file.h"
#endif
#include "drivers/sdcard/sdcard.h"
#include "drivers/io_pcf8574.h"
#include "drivers/io_port_expander.h"
#include "fc/cli.h"
#include "fc/config.h"
@ -675,9 +675,8 @@ void init(void)
}
#endif
#ifdef USE_PCF8574
bool pcfActive = pcf8574Init();
DEBUG_SET(DEBUG_PCF8574, 1, pcfActive);
#ifdef USE_I2C_IO_EXPANDER
ioPortExpanderInit();
#endif
// Considering that the persistent reset reason is only used during init

11
src/main/programming/logic_condition.c
View file

@ -41,6 +41,7 @@
#include "sensors/pitotmeter.h"
#include "flight/imu.h"
#include "flight/pid.h"
#include "drivers/io_port_expander.h"
#include "navigation/navigation.h"
#include "navigation/navigation_private.h"
@ -180,7 +181,12 @@ static int logicConditionCompute(
return operandA;
}
break;
#ifdef USE_I2C_IO_EXPANDER
case LOGIC_CONDITION_PORT_SET:
ioPortExpanderSet((uint8_t)operandA, (uint8_t)operandB);
return operandB;
break;
#endif
default:
return false;
break;
@ -456,6 +462,9 @@ void logicConditionUpdateTask(timeUs_t currentTimeUs) {
for (uint8_t i = 0; i < MAX_LOGIC_CONDITIONS; i++) {
logicConditionProcess(i);
}
#ifdef USE_I2C_IO_EXPANDER
ioPortExpanderSync();
#endif
}
void logicConditionReset(void) {

43
src/main/programming/logic_condition.h
View file

@ -29,27 +29,28 @@
#define MAX_LOGIC_CONDITIONS 16
typedef enum {
LOGIC_CONDITION_TRUE = 0, // 0
LOGIC_CONDITION_EQUAL, // 1
LOGIC_CONDITION_GREATER_THAN, // 2
LOGIC_CONDITION_LOWER_THAN, // 3
LOGIC_CONDITION_LOW, // 4
LOGIC_CONDITION_MID, // 5
LOGIC_CONDITION_HIGH, // 6
LOGIC_CONDITION_AND, // 7
LOGIC_CONDITION_OR, // 8
LOGIC_CONDITION_XOR, // 9
LOGIC_CONDITION_NAND, // 10
LOGIC_CONDITION_NOR, // 11
LOGIC_CONDITION_NOT, // 12
LOGIC_CONDITION_STICKY, // 13
LOGIC_CONDITION_ADD, // 14
LOGIC_CONDITION_SUB, // 15
LOGIC_CONDITION_MUL, // 16
LOGIC_CONDITION_DIV, // 17
LOGIC_CONDITION_GVAR_SET, // 18
LOGIC_CONDITION_GVAR_INC, // 19
LOGIC_CONDITION_GVAR_DEC, // 20
LOGIC_CONDITION_TRUE = 0,
LOGIC_CONDITION_EQUAL = 1,
LOGIC_CONDITION_GREATER_THAN = 2,
LOGIC_CONDITION_LOWER_THAN = 3,
LOGIC_CONDITION_LOW = 4,
LOGIC_CONDITION_MID = 5,
LOGIC_CONDITION_HIGH = 6,
LOGIC_CONDITION_AND = 7,
LOGIC_CONDITION_OR = 8,
LOGIC_CONDITION_XOR = 9,
LOGIC_CONDITION_NAND = 10,
LOGIC_CONDITION_NOR = 11,
LOGIC_CONDITION_NOT = 12,
LOGIC_CONDITION_STICKY = 13,
LOGIC_CONDITION_ADD = 14,
LOGIC_CONDITION_SUB = 15,
LOGIC_CONDITION_MUL = 16,
LOGIC_CONDITION_DIV = 17,
LOGIC_CONDITION_GVAR_SET = 18,
LOGIC_CONDITION_GVAR_INC = 19,
LOGIC_CONDITION_GVAR_DEC = 20,
LOGIC_CONDITION_PORT_SET = 128,
LOGIC_CONDITION_LAST
} logicOperation_e;

1
src/main/target/common.h
View file

@ -122,7 +122,6 @@
#define USE_ANTIGRAVITY
#define USE_I2C_IO_EXPANDER
#define USE_PCF8574
#else // FLASH_SIZE < 256
#define LOG_LEVEL_MAXIMUM LOG_LEVEL_ERROR

2
src/main/target/common_hardware.c
View file

@ -353,7 +353,7 @@
BUSDEV_REGISTER_I2C(busdev_irlock, DEVHW_IRLOCK, IRLOCK_I2C_BUS, 0x54, NONE, DEVFLAGS_USE_RAW_REGISTERS);
#endif
#if defined(USE_I2C) && defined(USE_PCF8574)
#if defined(USE_I2C) && defined(USE_I2C_IO_EXPANDER)
#if !defined(PCF8574_I2C_BUS) && defined(EXTERNAL_I2C_BUS)
#define PCF8574_I2C_BUS EXTERNAL_I2C_BUS