Refactor LC, GF and GVAR to use single scheduler task

make/source.mk

@@ -14,9 +14,6 @@ COMMON_SRC = \
             common/filter.c \
             common/gps_conversion.c \
             common/log.c \
-            common/logic_condition.c \
-            common/global_functions.c \
-            common/global_variables.c \
             common/maths.c \
             common/memory.c \
             common/olc.c \
@@ -26,6 +23,10 @@ COMMON_SRC = \
             common/time.c \
             common/typeconversion.c \
             common/uvarint.c \
+            programming/logic_condition.c \
+            programming/global_functions.c \
+            programming/global_variables.c \
+            programming/programming_task.c \
             config/config_eeprom.c \
             config/config_streamer.c \
             config/feature.c \

src/main/fc/cli.c

@@ -43,8 +43,8 @@ extern uint8_t __config_end;
 #include "common/memory.h"
 #include "common/time.h"
 #include "common/typeconversion.h"
-#include "common/global_functions.h"
+#include "programming/global_functions.h"
-#include "common/global_variables.h"
+#include "programming/global_variables.h"
 
 #include "config/config_eeprom.h"
 #include "config/feature.h"
@@ -1682,7 +1682,7 @@ static void printServoMix(uint8_t dumpMask, const servoMixer_t *customServoMixer
                 && customServoMixer.inputSource == customServoMixerDefault.inputSource
                 && customServoMixer.rate == customServoMixerDefault.rate
                 && customServoMixer.speed == customServoMixerDefault.speed
-            #ifdef USE_LOGIC_CONDITIONS
+            #ifdef USE_PROGRAMMING_FRAMEWORK
                 && customServoMixer.conditionId == customServoMixerDefault.conditionId
             #endif
             ;
@@ -1693,7 +1693,7 @@ static void printServoMix(uint8_t dumpMask, const servoMixer_t *customServoMixer
                 customServoMixerDefault.inputSource,
                 customServoMixerDefault.rate,
                 customServoMixerDefault.speed,
-            #ifdef USE_LOGIC_CONDITIONS
+            #ifdef USE_PROGRAMMING_FRAMEWORK
                 customServoMixer.conditionId
             #else
                 0
@@ -1706,7 +1706,7 @@ static void printServoMix(uint8_t dumpMask, const servoMixer_t *customServoMixer
             customServoMixer.inputSource,
             customServoMixer.rate,
             customServoMixer.speed,
-        #ifdef USE_LOGIC_CONDITIONS
+        #ifdef USE_PROGRAMMING_FRAMEWORK
             customServoMixer.conditionId
         #else
             0
@@ -1753,7 +1753,7 @@ static void cliServoMix(char *cmdline)
             customServoMixersMutable(i)->inputSource = args[INPUT];
             customServoMixersMutable(i)->rate = args[RATE];
             customServoMixersMutable(i)->speed = args[SPEED];
-        #ifdef USE_LOGIC_CONDITIONS
+        #ifdef USE_PROGRAMMING_FRAMEWORK
             customServoMixersMutable(i)->conditionId = args[CONDITION];
         #endif
             cliServoMix("");
@@ -1763,7 +1763,7 @@ static void cliServoMix(char *cmdline)
     }
 }
 
-#ifdef USE_LOGIC_CONDITIONS
+#ifdef USE_PROGRAMMING_FRAMEWORK
 
 static void printLogic(uint8_t dumpMask, const logicCondition_t *logicConditions, const logicCondition_t *defaultLogicConditions)
 {
@@ -1950,7 +1950,7 @@ static void cliGvar(char *cmdline) {
 
 #endif
 
-#ifdef USE_GLOBAL_FUNCTIONS
+#ifdef USE_PROGRAMMING_FRAMEWORK
 
 static void printGlobalFunctions(uint8_t dumpMask, const globalFunction_t *globalFunctions, const globalFunction_t *defaultGlobalFunctions)
 {
@@ -3321,7 +3321,7 @@ static void printConfig(const char *cmdline, bool doDiff)
         cliPrintHashLine("servo");
         printServo(dumpMask, servoParams_CopyArray, servoParams(0));
 
-#ifdef USE_LOGIC_CONDITIONS
+#ifdef USE_PROGRAMMING_FRAMEWORK
         cliPrintHashLine("logic");
         printLogic(dumpMask, logicConditions_CopyArray, logicConditions(0));
 
@@ -3329,7 +3329,7 @@ static void printConfig(const char *cmdline, bool doDiff)
         printGvar(dumpMask, globalVariableConfigs_CopyArray, globalVariableConfigs(0));
 #endif
 
-#ifdef USE_GLOBAL_FUNCTIONS
+#ifdef USE_PROGRAMMING_FRAMEWORK
         cliPrintHashLine("gf");
         printGlobalFunctions(dumpMask, globalFunctions_CopyArray, globalFunctions(0));
 #endif
@@ -3576,7 +3576,7 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("serialpassthrough", "passthrough serial data to port", "<id> [baud] [mode] : passthrough to serial", cliSerialPassthrough),
 #endif
     CLI_COMMAND_DEF("servo", "configure servos", NULL, cliServo),
-#ifdef USE_LOGIC_CONDITIONS
+#ifdef USE_PROGRAMMING_FRAMEWORK
     CLI_COMMAND_DEF("logic", "configure logic conditions",
         "<rule> <enabled> <activatorId> <operation> <operand A type> <operand A value> <operand B type> <operand B value> <flags>\r\n"
         "\treset\r\n", cliLogic),
@@ -3585,7 +3585,7 @@ const clicmd_t cmdTable[] = {
         "<gvar> <default> <min> <max>\r\n"
         "\treset\r\n", cliGvar),
 #endif
-#ifdef USE_GLOBAL_FUNCTIONS
+#ifdef USE_PROGRAMMING_FRAMEWORK
     CLI_COMMAND_DEF("gf", "configure global functions",
         "<rule> <enabled> <logic condition> <action> <operand type> <operand value> <flags>\r\n"
         "\treset\r\n", cliGlobalFunctions),

src/main/fc/fc_core.c

@@ -32,7 +32,7 @@ FILE_COMPILE_FOR_SPEED
 #include "common/color.h"
 #include "common/utils.h"
 #include "common/filter.h"
-#include "common/global_functions.h"
+#include "programming/global_functions.h"
 
 #include "drivers/light_led.h"
 #include "drivers/serial.h"
@@ -446,7 +446,7 @@ void releaseSharedTelemetryPorts(void) {
 void tryArm(void)
 {
     updateArmingStatus();
-#ifdef USE_GLOBAL_FUNCTIONS
+#ifdef USE_PROGRAMMING_FRAMEWORK
     if (
         !isArmingDisabled() || 
         emergencyArmingIsEnabled() || 

src/main/fc/fc_init.c

@@ -35,7 +35,7 @@
 #include "common/maths.h"
 #include "common/memory.h"
 #include "common/printf.h"
-#include "common/global_variables.h"
+#include "programming/global_variables.h"
 
 #include "config/config_eeprom.h"
 #include "config/feature.h"
@@ -286,7 +286,7 @@ void init(void)
     logInit();
 #endif
 
-#ifdef USE_LOGIC_CONDITIONS
+#ifdef USE_PROGRAMMING_FRAMEWORK
     gvInit();
 #endif
 

src/main/fc/fc_msp.c

@@ -35,8 +35,8 @@
 #include "common/bitarray.h"
 #include "common/time.h"
 #include "common/utils.h"
-#include "common/global_functions.h"
+#include "programming/global_functions.h"
-#include "common/global_variables.h"
+#include "programming/global_variables.h"
 
 #include "config/parameter_group_ids.h"
 
@@ -520,14 +520,14 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
             sbufWriteU8(dst, customServoMixers(i)->inputSource);
             sbufWriteU16(dst, customServoMixers(i)->rate);
             sbufWriteU8(dst, customServoMixers(i)->speed);
-        #ifdef USE_LOGIC_CONDITIONS
+        #ifdef USE_PROGRAMMING_FRAMEWORK
             sbufWriteU8(dst, customServoMixers(i)->conditionId);
         #else
             sbufWriteU8(dst, -1);
         #endif
         }
         break;
-#ifdef USE_LOGIC_CONDITIONS
+#ifdef USE_PROGRAMMING_FRAMEWORK
     case MSP2_INAV_LOGIC_CONDITIONS:
         for (int i = 0; i < MAX_LOGIC_CONDITIONS; i++) {
             sbufWriteU8(dst, logicConditions(i)->enabled);
@@ -551,7 +551,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         }
         break;
 #endif
-#ifdef USE_GLOBAL_FUNCTIONS
+#ifdef USE_PROGRAMMING_FRAMEWORK
     case MSP2_INAV_GLOBAL_FUNCTIONS:
         for (int i = 0; i < MAX_GLOBAL_FUNCTIONS; i++) {
             sbufWriteU8(dst, globalFunctions(i)->enabled);
@@ -1928,7 +1928,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             customServoMixersMutable(tmp_u8)->inputSource = sbufReadU8(src);
             customServoMixersMutable(tmp_u8)->rate = sbufReadU16(src);
             customServoMixersMutable(tmp_u8)->speed = sbufReadU8(src);
-        #ifdef USE_LOGIC_CONDITIONS
+        #ifdef USE_PROGRAMMING_FRAMEWORK
             customServoMixersMutable(tmp_u8)->conditionId = sbufReadU8(src);
         #else
             sbufReadU8(src);
@@ -1937,7 +1937,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
         } else
             return MSP_RESULT_ERROR;
         break;
-#ifdef USE_LOGIC_CONDITIONS
+#ifdef USE_PROGRAMMING_FRAMEWORK
     case MSP2_INAV_SET_LOGIC_CONDITIONS:
         sbufReadU8Safe(&tmp_u8, src);
         if ((dataSize == 15) && (tmp_u8 < MAX_LOGIC_CONDITIONS)) {
@@ -1953,7 +1953,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
             return MSP_RESULT_ERROR;
         break;
 #endif
-#ifdef USE_GLOBAL_FUNCTIONS
+#ifdef USE_PROGRAMMING_FRAMEWORK
     case MSP2_INAV_SET_GLOBAL_FUNCTIONS:
         sbufReadU8Safe(&tmp_u8, src);
         if ((dataSize == 10) && (tmp_u8 < MAX_GLOBAL_FUNCTIONS)) {

src/main/fc/fc_tasks.c

@@ -26,8 +26,7 @@
 #include "common/axis.h"
 #include "common/color.h"
 #include "common/utils.h"
-#include "common/logic_condition.h"
+#include "programming/programming_task.h"
-#include "common/global_functions.h"
 
 #include "drivers/accgyro/accgyro.h"
 #include "drivers/compass/compass.h"
@@ -355,11 +354,8 @@ void fcTasksInit(void)
 #ifdef USE_RCDEVICE
     setTaskEnabled(TASK_RCDEVICE, rcdeviceIsEnabled());
 #endif
-#ifdef USE_LOGIC_CONDITIONS
+#ifdef USE_PROGRAMMING_FRAMEWORK
-    setTaskEnabled(TASK_LOGIC_CONDITIONS, true);
+    setTaskEnabled(TASK_PROGRAMMING_FRAMEWORK, true);
-#endif
-#ifdef USE_GLOBAL_FUNCTIONS
-    setTaskEnabled(TASK_GLOBAL_FUNCTIONS, true);
 #endif
 #ifdef USE_IRLOCK
     setTaskEnabled(TASK_IRLOCK, irlockHasBeenDetected());
@@ -578,18 +574,10 @@ cfTask_t cfTasks[TASK_COUNT] = {
         .staticPriority = TASK_PRIORITY_IDLE,
     },
 #endif
-#ifdef USE_LOGIC_CONDITIONS
+#ifdef USE_PROGRAMMING_FRAMEWORK
-    [TASK_LOGIC_CONDITIONS] = {
+    [TASK_PROGRAMMING_FRAMEWORK] = {
-        .taskName = "LOGIC",
+        .taskName = "PROGRAMMING",
-        .taskFunc = logicConditionUpdateTask,
+        .taskFunc = programmingFrameworkUpdateTask,
-        .desiredPeriod = TASK_PERIOD_HZ(10),          // 10Hz @100msec
-        .staticPriority = TASK_PRIORITY_IDLE,
-    },
-#endif
-#ifdef USE_GLOBAL_FUNCTIONS
-    [TASK_GLOBAL_FUNCTIONS] = {
-        .taskName = "G_FNK",
-        .taskFunc = globalFunctionsUpdateTask,
         .desiredPeriod = TASK_PERIOD_HZ(10),          // 10Hz @100msec
         .staticPriority = TASK_PRIORITY_IDLE,
     },

src/main/flight/mixer.c

@@ -29,7 +29,7 @@ FILE_COMPILE_FOR_SPEED
 #include "common/filter.h"
 #include "common/maths.h"
 #include "common/utils.h"
-#include "common/global_functions.h"
+#include "programming/global_functions.h"
 
 #include "config/feature.h"
 #include "config/parameter_group.h"
@@ -479,7 +479,7 @@ void FAST_CODE mixTable(const float dT)
     int16_t throttleMin, throttleMax;
 
     // Find min and max throttle based on condition.
-#ifdef USE_GLOBAL_FUNCTIONS
+#ifdef USE_PROGRAMMING_FRAMEWORK
     if (GLOBAL_FUNCTION_FLAG(GLOBAL_FUNCTION_FLAG_OVERRIDE_THROTTLE)) {
         throttleRangeMin = throttleIdleValue;
         throttleRangeMax = motorConfig()->maxthrottle;
@@ -514,7 +514,7 @@ void FAST_CODE mixTable(const float dT)
         throttleRangeMax = motorConfig()->maxthrottle;
 
         // Throttle scaling to limit max throttle when battery is full
-    #ifdef USE_GLOBAL_FUNCTIONS
+    #ifdef USE_PROGRAMMING_FRAMEWORK
         mixerThrottleCommand = ((mixerThrottleCommand - throttleRangeMin) * getThrottleScale(motorConfig()->throttleScale)) + throttleRangeMin;
     #else
         mixerThrottleCommand = ((mixerThrottleCommand - throttleRangeMin) * motorConfig()->throttleScale) + throttleRangeMin;

src/main/flight/pid.c

@@ -57,7 +57,7 @@ FILE_COMPILE_FOR_SPEED
 #include "sensors/acceleration.h"
 #include "sensors/compass.h"
 #include "sensors/pitotmeter.h"
-#include "common/global_functions.h"
+#include "programming/global_functions.h"
 
 typedef struct {
     float kP;   // Proportional gain
@@ -958,7 +958,7 @@ void FAST_CODE pidController(float dT)
         if (axis == FD_YAW && headingHoldState == HEADING_HOLD_ENABLED) {
             rateTarget = pidHeadingHold(dT);
         } else {
-#ifdef USE_GLOBAL_FUNCTIONS
+#ifdef USE_PROGRAMMING_FRAMEWORK
             rateTarget = pidRcCommandToRate(getRcCommandOverride(rcCommand, axis), currentControlRateProfile->stabilized.rates[axis]);
 #else 
             rateTarget = pidRcCommandToRate(rcCommand[axis], currentControlRateProfile->stabilized.rates[axis]);

src/main/flight/servos.c

@@ -28,7 +28,7 @@
 #include "common/axis.h"
 #include "common/filter.h"
 #include "common/maths.h"
-#include "common/global_variables.h"
+#include "programming/global_variables.h"
 
 #include "config/config_reset.h"
 #include "config/feature.h"
@@ -75,7 +75,7 @@ void pgResetFn_customServoMixers(servoMixer_t *instance)
             .inputSource = 0,
             .rate = 0,
             .speed = 0
-#ifdef USE_LOGIC_CONDITIONS
+#ifdef USE_PROGRAMMING_FRAMEWORK
             ,.conditionId = -1
 #endif
         );
@@ -266,7 +266,7 @@ void servoMixer(float dT)
     input[INPUT_FEATURE_FLAPS] = FLIGHT_MODE(FLAPERON) ? servoConfig()->flaperon_throw_offset : 0;
 
     input[INPUT_MAX] = 500;
-#ifdef USE_LOGIC_CONDITIONS
+#ifdef USE_PROGRAMMING_FRAMEWORK
     input[INPUT_GVAR_0] = constrain(gvGet(0), -1000, 1000);
     input[INPUT_GVAR_1] = constrain(gvGet(1), -1000, 1000);
     input[INPUT_GVAR_2] = constrain(gvGet(2), -1000, 1000);
@@ -318,7 +318,7 @@ void servoMixer(float dT)
         /*
          * Check if conditions for a rule are met, not all conditions apply all the time
          */
-    #ifdef USE_LOGIC_CONDITIONS
+    #ifdef USE_PROGRAMMING_FRAMEWORK
         if (!logicConditionGetValue(currentServoMixer[i].conditionId)) {
             continue; 
         }

src/main/flight/servos.h

@@ -18,7 +18,7 @@
 #pragma once
 
 #include "config/parameter_group.h"
-#include "common/logic_condition.h"
+#include "programming/logic_condition.h"
 
 #define MAX_SUPPORTED_SERVOS 16
 
@@ -105,7 +105,7 @@ typedef struct servoMixer_s {
     uint8_t inputSource;                    // input channel for this rule
     int16_t rate;                           // range [-1000;+1000] ; can be used to adjust a rate 0-1000% and a direction
     uint8_t speed;                          // reduces the speed of the rule, 0=unlimited speed
-#ifdef USE_LOGIC_CONDITIONS
+#ifdef USE_PROGRAMMING_FRAMEWORK
     int8_t conditionId;
 #endif
 } servoMixer_t;

src/main/programming/global_functions.c

@@ -28,13 +28,13 @@
 
 #include "common/utils.h"
 #include "common/maths.h"
-#include "common/global_functions.h"
+#include "programming/global_functions.h"
-#include "common/logic_condition.h"
+#include "programming/logic_condition.h"
 
 #include "io/vtx.h"
 #include "drivers/vtx_common.h"
 
-#ifdef USE_GLOBAL_FUNCTIONS
+#ifdef USE_PROGRAMMING_FRAMEWORK
 
 #include "common/axis.h"
 

src/main/programming/global_functions.h

@@ -24,7 +24,7 @@
 #pragma once
 
 #include "config/parameter_group.h"
-#include "common/logic_condition.h"
+#include "programming/logic_condition.h"
 
 #define MAX_GLOBAL_FUNCTIONS 8
 

src/main/programming/global_variables.c

@@ -26,13 +26,13 @@
 
 FILE_COMPILE_FOR_SIZE
 
-#ifdef USE_LOGIC_CONDITIONS
+#ifdef USE_PROGRAMMING_FRAMEWORK
 
 #include <stdint.h>
 #include "config/config_reset.h"
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
-#include "common/global_variables.h"
+#include "programming/global_variables.h"
 #include "common/maths.h"
 #include "build/build_config.h"
  

src/main/programming/logic_condition.c

@@ -28,11 +28,11 @@
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
 
-#include "common/logic_condition.h"
+#include "programming/logic_condition.h"
-#include "common/global_variables.h"
+#include "programming/global_variables.h"
 #include "common/utils.h"
 #include "rx/rx.h"
-#include "maths.h"
+#include "common/maths.h"
 #include "fc/fc_core.h"
 #include "fc/rc_controls.h"
 #include "fc/runtime_config.h"

src/main/programming/programming_task.c

@@ -0,0 +1,35 @@
+/*
+ * 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/.
+ */
+
+#include "platform.h"
+
+FILE_COMPILE_FOR_SIZE
+
+#include "programming/logic_condition.h"
+#include "programming/global_functions.h"
+
+void programmingFrameworkUpdateTask(timeUs_t currentTimeUs) {
+    logicConditionUpdateTask(currentTimeUs);
+    globalFunctionsUpdateTask(currentTimeUs);
+}

src/main/programming/programming_task.h

@@ -0,0 +1,27 @@
+/*
+ * 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
+
+void programmingFrameworkUpdateTask(timeUs_t currentTimeUs);

src/main/scheduler/scheduler.h

@@ -110,11 +110,8 @@ typedef enum {
 #ifdef USE_VTX_CONTROL
     TASK_VTXCTRL,
 #endif
-#ifdef USE_LOGIC_CONDITIONS
+#ifdef USE_PROGRAMMING_FRAMEWORK
-    TASK_LOGIC_CONDITIONS,
+    TASK_PROGRAMMING_FRAMEWORK,
-#endif
-#ifdef USE_GLOBAL_FUNCTIONS
-    TASK_GLOBAL_FUNCTIONS,
 #endif
 #ifdef USE_RPM_FILTER
     TASK_RPM_FILTER,

src/main/target/common.h

@@ -162,8 +162,7 @@
 #define USE_VTX_FFPV
 
 #ifndef STM32F3 //F3 series does not have enoug RAM to support logic conditions
-#define USE_LOGIC_CONDITIONS
+#define USE_PROGRAMMING_FRAMEWORK
-#define USE_GLOBAL_FUNCTIONS
 #define USE_CLI_BATCH
 #endif