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Code Issues Wiki Activity

Allow Logic Conditions to override RC channels

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2020-11-25 08:39:31 +01:00
parent cb1dd8d039
commit 9dea44a4da
3 changed files with 39 additions and 3 deletions
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22
src/main/programming/logic_condition.c
View file

@ -54,6 +54,7 @@ PG_REGISTER_ARRAY_WITH_RESET_FN(logicCondition_t, MAX_LOGIC_CONDITIONS, logicCon
EXTENDED_FASTRAM uint64_t logicConditionsGlobalFlags; EXTENDED_FASTRAM uint64_t logicConditionsGlobalFlags;
EXTENDED_FASTRAM int logicConditionValuesByType[LOGIC_CONDITION_LAST]; EXTENDED_FASTRAM int logicConditionValuesByType[LOGIC_CONDITION_LAST];
EXTENDED_FASTRAM rcChannelOverride_t rcChannelOverrides[MAX_SUPPORTED_RC_CHANNEL_COUNT];
void pgResetFn_logicConditions(logicCondition_t *instance) void pgResetFn_logicConditions(logicCondition_t *instance)
{ {
@ -307,6 +308,14 @@ static int logicConditionCompute(
return scaleRange(constrain(operandA, 0, 1000), 0, 1000, 0, operandB); return scaleRange(constrain(operandA, 0, 1000), 0, 1000, 0, operandB);
break; break;
case LOGIC_CONDITION_RC_CHANNEL_OVERRIDE:
temporaryValue = constrain(operandA - 1, 0, MAX_SUPPORTED_RC_CHANNEL_COUNT - 1);
rcChannelOverrides[temporaryValue].active = true;
rcChannelOverrides[temporaryValue].value = constrain(operandB, PWM_RANGE_MIN, PWM_RANGE_MAX);
LOGIC_CONDITION_GLOBAL_FLAG_ENABLE(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_RC_CHANNEL);
return true;
break;
default: default:
return false; return false;
break; break;
@ -622,6 +631,11 @@ void logicConditionUpdateTask(timeUs_t currentTimeUs) {
for (uint8_t i = 0; i < MAX_LOGIC_CONDITIONS; i++) { for (uint8_t i = 0; i < MAX_LOGIC_CONDITIONS; i++) {
logicConditionProcess(i); logicConditionProcess(i);
} }
for (uint8_t i = 0; i < MAX_SUPPORTED_RC_CHANNEL_COUNT; i++) {
rcChannelOverrides[i].active = false;
}
#ifdef USE_I2C_IO_EXPANDER #ifdef USE_I2C_IO_EXPANDER
ioPortExpanderSync(); ioPortExpanderSync();
#endif #endif
@ -663,3 +677,11 @@ int16_t getRcCommandOverride(int16_t command[], uint8_t axis) {
return outputValue; return outputValue;
} }
int16_t getRcChannelOverride(uint8_t channel, int16_t originalValue) {
if (rcChannelOverrides[channel].active) {
return rcChannelOverrides[channel].value;
} else {
return originalValue;
}
}

12
src/main/programming/logic_condition.h
View file

@ -67,7 +67,8 @@ typedef enum {
LOGIC_CONDITION_TAN = 35, LOGIC_CONDITION_TAN = 35,
LOGIC_CONDITION_MAP_INPUT = 36, LOGIC_CONDITION_MAP_INPUT = 36,
LOGIC_CONDITION_MAP_OUTPUT = 37, LOGIC_CONDITION_MAP_OUTPUT = 37,
LOGIC_CONDITION_LAST = 38, LOGIC_CONDITION_RC_CHANNEL_OVERRIDE = 38,
LOGIC_CONDITION_LAST = 39,
} logicOperation_e; } logicOperation_e;
typedef enum logicOperandType_s { typedef enum logicOperandType_s {
@ -141,6 +142,7 @@ typedef enum {
LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_INVERT_YAW = (1 << 5), LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_INVERT_YAW = (1 << 5),
LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_THROTTLE = (1 << 6), LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_THROTTLE = (1 << 6),
LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_OSD_LAYOUT = (1 << 7), LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_OSD_LAYOUT = (1 << 7),
LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_RC_CHANNEL = (1 << 8),
} logicConditionsGlobalFlags_t; } logicConditionsGlobalFlags_t;
typedef enum { typedef enum {
@ -168,6 +170,11 @@ typedef struct logicConditionState_s {
uint8_t flags; uint8_t flags;
} logicConditionState_t; } logicConditionState_t;
typedef struct rcChannelOverride_s {
uint8_t active;
int value;
} rcChannelOverride_t;
extern int logicConditionValuesByType[LOGIC_CONDITION_LAST]; extern int logicConditionValuesByType[LOGIC_CONDITION_LAST];
extern uint64_t logicConditionsGlobalFlags; extern uint64_t logicConditionsGlobalFlags;
@ -184,4 +191,5 @@ void logicConditionUpdateTask(timeUs_t currentTimeUs);
void logicConditionReset(void); void logicConditionReset(void);
float getThrottleScale(float globalThrottleScale); float getThrottleScale(float globalThrottleScale);
int16_t getRcCommandOverride(int16_t command[], uint8_t axis); int16_t getRcCommandOverride(int16_t command[], uint8_t axis);
int16_t getRcChannelOverride(uint8_t channel, int16_t originalValue);

8
src/main/rx/rx.c
View file

@ -29,6 +29,8 @@
#include "common/maths.h" #include "common/maths.h"
#include "common/utils.h" #include "common/utils.h"
#include "programming/logic_condition.h"
#include "config/feature.h" #include "config/feature.h"
#include "config/parameter_group.h" #include "config/parameter_group.h"
#include "config/parameter_group_ids.h" #include "config/parameter_group_ids.h"
@ -713,7 +715,11 @@ uint16_t rxGetRefreshRate(void)
int16_t rxGetChannelValue(unsigned channelNumber) int16_t rxGetChannelValue(unsigned channelNumber)
{ {
return rcChannels[channelNumber].data; if (LOGIC_CONDITION_GLOBAL_FLAG(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_RC_CHANNEL)) {
return getRcChannelOverride(channelNumber, rcChannels[channelNumber].data);
} else {
return rcChannels[channelNumber].data;
}
} }
int16_t rxGetRawChannelValue(unsigned channelNumber) int16_t rxGetRawChannelValue(unsigned channelNumber)