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Refactor LC, GF and GVAR to use single scheduler task

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Pawel Spychalski (DzikuVx) 2020-07-08 15:18:52 +02:00
parent 5ef91047f0
commit 47cd8f317d
20 changed files with 120 additions and 73 deletions
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src/main/programming/logic_condition.h Normal file
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/*
* This file is part of INAV Project.
*
* 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 "config/parameter_group.h"
#include "common/time.h"
#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_LAST
} logicOperation_e;
typedef enum logicOperandType_s {
LOGIC_CONDITION_OPERAND_TYPE_VALUE = 0,
LOGIC_CONDITION_OPERAND_TYPE_RC_CHANNEL,
LOGIC_CONDITION_OPERAND_TYPE_FLIGHT,
LOGIC_CONDITION_OPERAND_TYPE_FLIGHT_MODE,
LOGIC_CONDITION_OPERAND_TYPE_LC, // Result of different LC and LC operand
LOGIC_CONDITION_OPERAND_TYPE_GVAR, // Value from a global variable
LOGIC_CONDITION_OPERAND_TYPE_LAST
} logicOperandType_e;
typedef enum {
LOGIC_CONDITION_OPERAND_FLIGHT_ARM_TIMER = 0, // in s // 0
LOGIC_CONDITION_OPERAND_FLIGHT_HOME_DISTANCE, //in m // 1
LOGIC_CONDITION_OPERAND_FLIGHT_TRIP_DISTANCE, //in m // 2
LOGIC_CONDITION_OPERAND_FLIGHT_RSSI, // 3
LOGIC_CONDITION_OPERAND_FLIGHT_VBAT, // Volt / 10 // 4
LOGIC_CONDITION_OPERAND_FLIGHT_CELL_VOLTAGE, // Volt / 10 // 5
LOGIC_CONDITION_OPERAND_FLIGHT_CURRENT, // Amp / 100 // 6
LOGIC_CONDITION_OPERAND_FLIGHT_MAH_DRAWN, // mAh // 7
LOGIC_CONDITION_OPERAND_FLIGHT_GPS_SATS, // 8
LOGIC_CONDITION_OPERAND_FLIGHT_GROUD_SPEED, // cm/s // 9
LOGIC_CONDITION_OPERAND_FLIGHT_3D_SPEED, // cm/s // 10
LOGIC_CONDITION_OPERAND_FLIGHT_AIR_SPEED, // cm/s // 11
LOGIC_CONDITION_OPERAND_FLIGHT_ALTITUDE, // cm // 12
LOGIC_CONDITION_OPERAND_FLIGHT_VERTICAL_SPEED, // cm/s // 13
LOGIC_CONDITION_OPERAND_FLIGHT_TROTTLE_POS, // % // 14
LOGIC_CONDITION_OPERAND_FLIGHT_ATTITUDE_ROLL, // deg // 15
LOGIC_CONDITION_OPERAND_FLIGHT_ATTITUDE_PITCH, // deg // 16
LOGIC_CONDITION_OPERAND_FLIGHT_IS_ARMED, // 0/1 // 17
LOGIC_CONDITION_OPERAND_FLIGHT_IS_AUTOLAUNCH, // 0/1 // 18
LOGIC_CONDITION_OPERAND_FLIGHT_IS_ALTITUDE_CONTROL, // 0/1 // 19
LOGIC_CONDITION_OPERAND_FLIGHT_IS_POSITION_CONTROL, // 0/1 // 20
LOGIC_CONDITION_OPERAND_FLIGHT_IS_EMERGENCY_LANDING, // 0/1 // 21
LOGIC_CONDITION_OPERAND_FLIGHT_IS_RTH, // 0/1 // 22
LOGIC_CONDITION_OPERAND_FLIGHT_IS_WP, // 0/1 // 23
LOGIC_CONDITION_OPERAND_FLIGHT_IS_LANDING, // 0/1 // 24
LOGIC_CONDITION_OPERAND_FLIGHT_IS_FAILSAFE, // 0/1 // 25
LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_ROLL, // 26
LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_PITCH, // 27
LOGIC_CONDITION_OPERAND_FLIGHT_STABILIZED_YAW, // 28
} logicFlightOperands_e;
typedef enum {
LOGIC_CONDITION_OPERAND_FLIGHT_MODE_FAILSAFE,
LOGIC_CONDITION_OPERAND_FLIGHT_MODE_MANUAL,
LOGIC_CONDITION_OPERAND_FLIGHT_MODE_RTH,
LOGIC_CONDITION_OPERAND_FLIGHT_MODE_POSHOLD,
LOGIC_CONDITION_OPERAND_FLIGHT_MODE_CRUISE,
LOGIC_CONDITION_OPERAND_FLIGHT_MODE_ALTHOLD,
LOGIC_CONDITION_OPERAND_FLIGHT_MODE_ANGLE,
LOGIC_CONDITION_OPERAND_FLIGHT_MODE_HORIZON,
LOGIC_CONDITION_OPERAND_FLIGHT_MODE_AIR,
} logicFlightModeOperands_e;
typedef enum {
LOGIC_CONDITION_FLAG_LATCH = 1 << 0,
} logicConditionFlags_e;
typedef struct logicOperand_s {
logicOperandType_e type;
int32_t value;
} logicOperand_t;
typedef struct logicCondition_s {
uint8_t enabled;
int8_t activatorId;
logicOperation_e operation;
logicOperand_t operandA;
logicOperand_t operandB;
uint8_t flags;
} logicCondition_t;
PG_DECLARE_ARRAY(logicCondition_t, MAX_LOGIC_CONDITIONS, logicConditions);
typedef struct logicConditionState_s {
int value;
uint8_t flags;
} logicConditionState_t;
void logicConditionProcess(uint8_t i);
int logicConditionGetOperandValue(logicOperandType_e type, int operand);
int logicConditionGetValue(int8_t conditionId);
void logicConditionUpdateTask(timeUs_t currentTimeUs);
void logicConditionReset(void);