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Code Issues Wiki Activity

Logic Conditions framework (#4144)

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* CLI for servo mix conditions

* RC channel greater than on servo mixer

* RC channel value based conditions

* MSP2 frames

* Docs update

* mixer condition changed to logic condition and generalized

* basic logic framwork extarcted to separate file'

* minor fixes

* Processing refactoring

* Flight values added to conditions

* Use logic conditions only on > F3

* Make logic conditions a separate entity and link from servo mixer to logic condition

* empty task to periadically compute logic conditions

* Compute logic conditions as task

* Add flags

* CLI logic to configure logic conditions

* MSP frames to get and set logic conditions

* Disabled condition always yelds false

* fixes for F3

* Review changes

* final fix in MSP2_INAV_SERVO_MIXER
This commit is contained in:
Paweł Spychalski 2019-03-05 22:31:28 +01:00 • committed by GitHub
parent 2ea69cf1f8
commit c13a13b172
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GPG key ID: 4AEE18F83AFDEB23
12 changed files with 604 additions and 14 deletions
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59
src/main/fc/fc_msp.c
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@ -463,6 +463,32 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU8(dst, 0);
}
break;
case MSP2_INAV_SERVO_MIXER:
for (int i = 0; i < MAX_SERVO_RULES; i++) {
sbufWriteU8(dst, customServoMixers(i)->targetChannel);
sbufWriteU8(dst, customServoMixers(i)->inputSource);
sbufWriteU16(dst, customServoMixers(i)->rate);
sbufWriteU8(dst, customServoMixers(i)->speed);
#ifdef USE_LOGIC_CONDITIONS
sbufWriteU8(dst, customServoMixers(i)->conditionId);
#else
sbufWriteU8(dst, 0);
#endif
}
break;
#ifdef USE_LOGIC_CONDITIONS
case MSP2_INAV_LOGIC_CONDITIONS:
for (int i = 0; i < MAX_LOGIC_CONDITIONS; i++) {
sbufWriteU8(dst, logicConditions(i)->enabled);
sbufWriteU8(dst, logicConditions(i)->operation);
sbufWriteU8(dst, logicConditions(i)->operandA.type);
sbufWriteU32(dst, logicConditions(i)->operandA.value);
sbufWriteU8(dst, logicConditions(i)->operandB.type);
sbufWriteU32(dst, logicConditions(i)->operandB.value);
sbufWriteU8(dst, logicConditions(i)->flags);
}
break;
#endif
case MSP2_COMMON_MOTOR_MIXER:
for (uint8_t i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
sbufWriteU16(dst, customMotorMixer(i)->throttle * 1000);
@ -1823,7 +1849,38 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
} else
return MSP_RESULT_ERROR;
break;
case MSP2_INAV_SET_SERVO_MIXER:
sbufReadU8Safe(&tmp_u8, src);
if ((dataSize == 7) && (tmp_u8 < MAX_SERVO_RULES)) {
customServoMixersMutable(tmp_u8)->targetChannel = sbufReadU8(src);
customServoMixersMutable(tmp_u8)->inputSource = sbufReadU8(src);
customServoMixersMutable(tmp_u8)->rate = sbufReadU16(src);
customServoMixersMutable(tmp_u8)->speed = sbufReadU8(src);
#ifdef USE_LOGIC_CONDITIONS
customServoMixersMutable(tmp_u8)->conditionId = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
loadCustomServoMixer();
} else
return MSP_RESULT_ERROR;
break;
#ifdef USE_LOGIC_CONDITIONS
case MSP2_INAV_SET_LOGIC_CONDITIONS:
sbufReadU8Safe(&tmp_u8, src);
if ((dataSize == 13) && (tmp_u8 < MAX_LOGIC_CONDITIONS)) {
logicConditionsMutable(tmp_u8)->enabled = sbufReadU8(src);
logicConditionsMutable(tmp_u8)->operation = sbufReadU8(src);
logicConditionsMutable(tmp_u8)->operandA.type = sbufReadU8(src);
logicConditionsMutable(tmp_u8)->operandA.value = sbufReadU32(src);
logicConditionsMutable(tmp_u8)->operandB.type = sbufReadU8(src);
logicConditionsMutable(tmp_u8)->operandB.value = sbufReadU32(src);
logicConditionsMutable(tmp_u8)->flags = sbufReadU8(src);
} else
return MSP_RESULT_ERROR;
break;
#endif
case MSP2_COMMON_SET_MOTOR_MIXER:
sbufReadU8Safe(&tmp_u8, src);
if ((dataSize == 9) && (tmp_u8 < MAX_SUPPORTED_MOTORS)) {