First run on Global Variables

make/source.mk

@@ -16,6 +16,7 @@ COMMON_SRC = \
             common/log.c \
             common/logic_condition.c \
             common/global_functions.c \
+            common/global_variables.c \
             common/maths.c \
             common/memory.c \
             common/olc.c \

src/main/common/global_variables.c

@@ -0,0 +1,49 @@
+/*
+ * 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"
+
+#ifdef USE_LOGIC_CONDITIONS
+
+#include <stdint.h>
+#include "common/global_variables.h"
+#include "build/build_config.h"
+ 
+static EXTENDED_FASTRAM int globalVariableState[MAX_GLOBAL_VARIABLES];
+
+int gvGet(uint8_t index) {
+    if (index < MAX_GLOBAL_VARIABLES) {
+        return globalVariableState[index];
+    } else {
+        return 0;
+    }
+}
+
+void gvSet(uint8_t index, int value) {
+    if (index < MAX_GLOBAL_VARIABLES) {
+        globalVariableState[index] = value;
+    }
+}
+
+#endif

src/main/common/global_variables.h

@@ -0,0 +1,30 @@
+/*
+ * 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
+
+#define MAX_GLOBAL_VARIABLES 4
+
+int gvGet(uint8_t index);
+void gvSet(uint8_t index, int value);

src/main/common/logic_condition.c

@@ -29,6 +29,7 @@
 #include "config/parameter_group_ids.h"
 
 #include "common/logic_condition.h"
+#include "common/global_variables.h"
 #include "common/utils.h"
 #include "rx/rx.h"
 #include "maths.h"
@@ -50,6 +51,7 @@ static int logicConditionCompute(
     int operandA,
     int operandB
 ) {
+    int temporaryValue;
     switch (operation) {
 
         case LOGIC_CONDITION_TRUE:
@@ -118,6 +120,43 @@ static int logicConditionCompute(
             return currentVaue;
             break;
 
+        case LOGIC_CONDITION_GVAR_SET:
+            gvSet(operandA, operandB);
+            return operandB;
+            break;
+        
+        case LOGIC_CONDITION_GVAR_INC:
+            temporaryValue = gvGet(operandA) + operandB;
+            gvSet(operandA, temporaryValue);
+            return temporaryValue;
+            break;
+
+        case LOGIC_CONDITION_GVAR_DEC:
+            temporaryValue = gvGet(operandA) - operandB;
+            gvSet(operandA, temporaryValue);
+            return temporaryValue;
+            break;
+
+        case LOGIC_CONDITION_ADD:
+            return operandA + operandB;
+            break;
+
+        case LOGIC_CONDITION_SUB:
+            return operandA - operandB;
+            break;
+
+        case LOGIC_CONDITION_MUL:
+            return operandA * operandB;
+            break;
+
+        case LOGIC_CONDITION_DIV:
+            if (operandB != 0) {
+                return operandA / operandB;
+            } else {
+                return operandA;
+            }
+            break;
+
         default:
             return false;
             break; 
@@ -314,6 +353,12 @@ int logicConditionGetOperandValue(logicOperandType_e type, int operand) {
             }
             break;
 
+        case LOGIC_CONDITION_OPERAND_TYPE_GVAR:
+            if (operand >= 0 && operand < MAX_GLOBAL_VARIABLES) {
+                retVal = gvGet(operand);
+            }
+            break;
+
         default:
             break;
     }

src/main/common/logic_condition.h

@@ -43,6 +43,13 @@ typedef enum {
     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,       // 21
     LOGIC_CONDITION_LAST
 } logicOperation_e;
 
@@ -52,6 +59,7 @@ typedef enum logicOperandType_s {
     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;
 

src/main/flight/servos.c

@@ -28,6 +28,7 @@
 #include "common/axis.h"
 #include "common/filter.h"
 #include "common/maths.h"
+#include "common/global_variables.h"
 
 #include "config/config_reset.h"
 #include "config/feature.h"
@@ -263,6 +264,12 @@ void servoMixer(float dT)
     input[INPUT_FEATURE_FLAPS] = FLIGHT_MODE(FLAPERON) ? servoConfig()->flaperon_throw_offset : 0;
 
     input[INPUT_LOGIC_ONE] = 500;
+#ifdef USE_LOGIC_CONDITIONS
+    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);
+    input[INPUT_GVAR_3] = constrain(gvGet(3), -1000, 1000);
+#endif
 
     if (IS_RC_MODE_ACTIVE(BOXCAMSTAB)) {
         input[INPUT_GIMBAL_PITCH] = scaleRange(attitude.values.pitch, -900, 900, -500, +500);

src/main/flight/servos.h

@@ -54,6 +54,10 @@ typedef enum {
     INPUT_STABILIZED_YAW_PLUS       = 27,
     INPUT_STABILIZED_YAW_MINUS      = 28,
     INPUT_LOGIC_ONE                 = 29,
+    INPUT_GVAR_0                    = 30,
+    INPUT_GVAR_1                    = 31,
+    INPUT_GVAR_2                    = 32,
+    INPUT_GVAR_3                    = 33,
 
     INPUT_SOURCE_COUNT
 } inputSource_e;