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Code Issues Wiki Activity

Unify Global Functions and Logic Conditions into single entity

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2020-07-22 21:53:54 +02:00
parent 30d1323c31
commit 827ac04950
8 changed files with 269 additions and 138 deletions
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123
src/main/programming/logic_condition.c
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@ -45,8 +45,14 @@
#include "navigation/navigation.h"
#include "navigation/navigation_private.h"
#include "io/vtx.h"
#include "drivers/vtx_common.h"
PG_REGISTER_ARRAY_WITH_RESET_FN(logicCondition_t, MAX_LOGIC_CONDITIONS, logicConditions, PG_LOGIC_CONDITIONS, 1);
EXTENDED_FASTRAM uint64_t logicConditionsGlobalFlags;
EXTENDED_FASTRAM int logicConditionValuesByType[LOGIC_CONDITION_LAST];
void pgResetFn_logicConditions(logicCondition_t *instance)
{
for (int i = 0; i < MAX_LOGIC_CONDITIONS; i++) {
@ -76,6 +82,8 @@ static int logicConditionCompute(
int operandB
) {
int temporaryValue;
vtxDeviceCapability_t vtxDeviceCapability;
switch (operation) {
case LOGIC_CONDITION_TRUE:
@ -180,6 +188,87 @@ static int logicConditionCompute(
return operandA;
}
break;
case LOGIC_CONDITION_OVERRIDE_ARMING_SAFETY:
LOGIC_CONDITION_GLOBAL_FLAG_ENABLE(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_ARMING_SAFETY);
return true;
break;
case LOGIC_CONDITION_OVERRIDE_THROTTLE_SCALE:
logicConditionValuesByType[LOGIC_CONDITION_OVERRIDE_THROTTLE_SCALE] = operandA;
LOGIC_CONDITION_GLOBAL_FLAG_ENABLE(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_THROTTLE_SCALE);
return true;
break;
case LOGIC_CONDITION_SWAP_ROLL_YAW:
LOGIC_CONDITION_GLOBAL_FLAG_ENABLE(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_SWAP_ROLL_YAW);
return true;
break;
case LOGIC_CONDITION_SET_VTX_POWER_LEVEL:
if (
logicConditionValuesByType[LOGIC_CONDITION_SET_VTX_POWER_LEVEL] != operandA &&
vtxCommonGetDeviceCapability(vtxCommonDevice(), &vtxDeviceCapability)
) {
logicConditionValuesByType[LOGIC_CONDITION_SET_VTX_POWER_LEVEL] = constrain(operandA, VTX_SETTINGS_MIN_POWER, vtxDeviceCapability.powerCount);
vtxSettingsConfigMutable()->power = logicConditionValuesByType[LOGIC_CONDITION_SET_VTX_POWER_LEVEL];
return logicConditionValuesByType[LOGIC_CONDITION_SET_VTX_POWER_LEVEL];
} else {
return false;
}
break;
case LOGIC_CONDITION_SET_VTX_BAND:
if (
logicConditionValuesByType[LOGIC_CONDITION_SET_VTX_BAND] != operandA &&
vtxCommonGetDeviceCapability(vtxCommonDevice(), &vtxDeviceCapability)
) {
logicConditionValuesByType[LOGIC_CONDITION_SET_VTX_BAND] = constrain(operandA, VTX_SETTINGS_MIN_BAND, VTX_SETTINGS_MAX_BAND);
vtxSettingsConfigMutable()->band = logicConditionValuesByType[LOGIC_CONDITION_SET_VTX_BAND];
return logicConditionValuesByType[LOGIC_CONDITION_SET_VTX_BAND];
} else {
return false;
}
break;
case LOGIC_CONDITION_SET_VTX_CHANNEL:
if (
logicConditionValuesByType[LOGIC_CONDITION_SET_VTX_CHANNEL] != operandA &&
vtxCommonGetDeviceCapability(vtxCommonDevice(), &vtxDeviceCapability)
) {
logicConditionValuesByType[LOGIC_CONDITION_SET_VTX_CHANNEL] = constrain(operandA, VTX_SETTINGS_MIN_CHANNEL, VTX_SETTINGS_MAX_CHANNEL);
vtxSettingsConfigMutable()->channel = logicConditionValuesByType[LOGIC_CONDITION_SET_VTX_CHANNEL];
return logicConditionValuesByType[LOGIC_CONDITION_SET_VTX_CHANNEL];
} else {
return false;
}
break;
case LOGIC_CONDITION_INVERT_ROLL:
LOGIC_CONDITION_GLOBAL_FLAG_ENABLE(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_INVERT_ROLL);
return true;
break;
case LOGIC_CONDITION_INVERT_PITCH:
LOGIC_CONDITION_GLOBAL_FLAG_ENABLE(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_INVERT_PITCH);
return true;
break;
case LOGIC_CONDITION_INVERT_YAW:
LOGIC_CONDITION_GLOBAL_FLAG_ENABLE(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_INVERT_YAW);
return true;
break;
case LOGIC_CONDITION_OVERRIDE_THROTTLE:
logicConditionValuesByType[LOGIC_CONDITION_OVERRIDE_THROTTLE] = operandA;
LOGIC_CONDITION_GLOBAL_FLAG_ENABLE(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_THROTTLE);
return operandA;
break;
case LOGIC_CONDITION_SET_OSD_LAYOUT:
logicConditionValuesByType[LOGIC_CONDITION_SET_OSD_LAYOUT] = operandA;
LOGIC_CONDITION_GLOBAL_FLAG_ENABLE(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_OSD_LAYOUT);
return operandA;
break;
default:
return false;
@ -453,6 +542,10 @@ int logicConditionGetValue(int8_t conditionId) {
void logicConditionUpdateTask(timeUs_t currentTimeUs) {
UNUSED(currentTimeUs);
//Disable all flags
logicConditionsGlobalFlags = 0;
for (uint8_t i = 0; i < MAX_LOGIC_CONDITIONS; i++) {
logicConditionProcess(i);
}
@ -464,3 +557,33 @@ void logicConditionReset(void) {
logicConditionStates[i].flags = 0;
}
}
float NOINLINE getThrottleScale(float globalThrottleScale) {
if (LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_THROTTLE_SCALE)) {
return constrainf(logicConditionValuesByType[LOGIC_CONDITION_OVERRIDE_THROTTLE_SCALE] / 100.0f, 0.0f, 1.0f);
} else {
return globalThrottleScale;
}
}
int16_t getRcCommandOverride(int16_t command[], uint8_t axis) {
int16_t outputValue = command[axis];
if (LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_SWAP_ROLL_YAW) && axis == FD_ROLL) {
outputValue = command[FD_YAW];
} else if (LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_SWAP_ROLL_YAW) && axis == FD_YAW) {
outputValue = command[FD_ROLL];
}
if (LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_INVERT_ROLL) && axis == FD_ROLL) {
outputValue *= -1;
}
if (LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_INVERT_PITCH) && axis == FD_PITCH) {
outputValue *= -1;
}
if (LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_INVERT_YAW) && axis == FD_YAW) {
outputValue *= -1;
}
return outputValue;
}