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Code Issues Wiki Activity

Global Functions (#4474)

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* First cut on data structure

* fix source.mk

* Dummy task to process global functions

* Early stage of arming safety override

* CLI interface for global functions

* MSP layer for global functions

* arming safety override with a global function

* Integrate throttle limit into global functions

* Fix Omnibus RAM overflow
This commit is contained in:
Paweł Spychalski 2019-09-16 11:49:49 +02:00 • committed by GitHub
parent 4fac7f3797
commit 97f3144bd0
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GPG key ID: 4AEE18F83AFDEB23
14 changed files with 350 additions and 11 deletions
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27
src/main/fc/fc_msp.c
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@ -35,6 +35,7 @@
#include "common/bitarray.h"
#include "common/time.h"
#include "common/utils.h"
#include "common/global_functions.h"
#include "config/parameter_group_ids.h"
@ -495,6 +496,18 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU32(dst, logicConditionGetValue(i));
}
break;
#endif
#ifdef USE_GLOBAL_FUNCTIONS
case MSP2_INAV_GLOBAL_FUNCTIONS:
for (int i = 0; i < MAX_GLOBAL_FUNCTIONS; i++) {
sbufWriteU8(dst, globalFunctions(i)->enabled);
sbufWriteU8(dst, globalFunctions(i)->conditionId);
sbufWriteU8(dst, globalFunctions(i)->action);
sbufWriteU8(dst, globalFunctions(i)->withValue.type);
sbufWriteU32(dst, globalFunctions(i)->withValue.value);
sbufWriteU8(dst, logicConditions(i)->flags);
}
break;
#endif
case MSP2_COMMON_MOTOR_MIXER:
for (uint8_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
@ -1919,6 +1932,20 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
} else
return MSP_RESULT_ERROR;
break;
#endif
#ifdef USE_GLOBAL_FUNCTIONS
case MSP2_INAV_SET_GLOBAL_FUNCTIONS:
sbufReadU8Safe(&tmp_u8, src);
if ((dataSize == 14) && (tmp_u8 < MAX_GLOBAL_FUNCTIONS)) {
globalFunctionsMutable(tmp_u8)->enabled = sbufReadU8(src);
globalFunctionsMutable(tmp_u8)->conditionId = sbufReadU8(src);
globalFunctionsMutable(tmp_u8)->action = sbufReadU8(src);
globalFunctionsMutable(tmp_u8)->withValue.type = sbufReadU8(src);
globalFunctionsMutable(tmp_u8)->withValue.value = sbufReadU32(src);
globalFunctionsMutable(tmp_u8)->flags = sbufReadU8(src);
} else
return MSP_RESULT_ERROR;
break;
#endif
case MSP2_COMMON_SET_MOTOR_MIXER:
sbufReadU8Safe(&tmp_u8, src);