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Merge pull request #7682 from dthubereng/mode-logic-rework 

Updated mode logic to work more intuitively
This commit is contained in:
Michael Keller 2019-03-03 12:40:17 +13:00 committed by GitHub
parent 111b023fcd fbe42a0646
commit a646c09c2c
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 34 additions and 24 deletions
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58
src/main/fc/rc_modes.c
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@ -78,15 +78,33 @@ bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range) {
channelValue < 900 + (range->endStep * 25));
}
void updateMasksForMac(const modeActivationCondition_t *mac, boxBitmask_t *andMask, boxBitmask_t *newMask)
/*
* updateMasksForMac:
*
* The following are the possible logic states at each MAC update:
* AND NEW
* --- ---
* F F - no previous AND macs evaluated, no previous active OR macs
* F T - at least 1 previous active OR mac (***this state is latched True***)
* T F - all previous AND macs active, no previous active OR macs
* T T - at least 1 previous inactive AND mac, no previous active OR macs
*/
void updateMasksForMac(const modeActivationCondition_t *mac, boxBitmask_t *andMask, boxBitmask_t *newMask, bool bActive)
{
bool bAnd = (mac->modeLogic == MODELOGIC_AND) || bitArrayGet(andMask, mac->modeId);
bool bAct = isRangeActive(mac->auxChannelIndex, &mac->range);
if (bAnd) {
bitArraySet(andMask, mac->modeId);
}
if (bAnd != bAct) {
bitArraySet(newMask, mac->modeId);
if (bitArrayGet(andMask, mac->modeId) || !bitArrayGet(newMask, mac->modeId)) {
bool bAnd = mac->modeLogic == MODELOGIC_AND;
if (!bAnd) { // OR mac
if (bActive) {
bitArrayClr(andMask, mac->modeId);
bitArraySet(newMask, mac->modeId);
}
} else { // AND mac
bitArraySet(andMask, mac->modeId);
if (!bActive) {
bitArraySet(newMask, mac->modeId);
}
}
}
}
@ -96,28 +114,18 @@ void updateMasksForStickyModes(const modeActivationCondition_t *mac, boxBitmask_
bitArrayClr(andMask, mac->modeId);
bitArraySet(newMask, mac->modeId);
} else {
bool bActive = isRangeActive(mac->auxChannelIndex, &mac->range);
if (bitArrayGet(&stickyModesEverDisabled, mac->modeId)) {
updateMasksForMac(mac, andMask, newMask);
updateMasksForMac(mac, andMask, newMask, bActive);
} else {
if (micros() >= STICKY_MODE_BOOT_DELAY_US && !isRangeActive(mac->auxChannelIndex, &mac->range)) {
if (micros() >= STICKY_MODE_BOOT_DELAY_US && !bActive) {
bitArraySet(&stickyModesEverDisabled, mac->modeId);
}
}
}
}
void updateMasksForLinkedMac(const modeActivationCondition_t *mac, boxBitmask_t *andMask, boxBitmask_t *newMask)
{
bool bAnd = (mac->modeLogic == MODELOGIC_AND) || bitArrayGet(andMask, mac->modeId);
bool bAct = bitArrayGet(andMask, mac->linkedTo) != bitArrayGet(newMask, mac->linkedTo);
if (bAnd) {
bitArraySet(andMask, mac->modeId);
}
if (bAnd != bAct) {
bitArraySet(newMask, mac->modeId);
}
}
void updateActivatedModes(void)
{
boxBitmask_t newMask, andMask, stickyModes;
@ -133,15 +141,17 @@ void updateActivatedModes(void)
if (bitArrayGet(&stickyModes, mac->modeId)) {
updateMasksForStickyModes(mac, &andMask, &newMask);
} else if (mac->modeId < CHECKBOX_ITEM_COUNT) {
updateMasksForMac(mac, &andMask, &newMask);
bool bActive = isRangeActive(mac->auxChannelIndex, &mac->range);
updateMasksForMac(mac, &andMask, &newMask, bActive);
}
}
// Update linked modes
for (int i = 0; i < activeLinkedMacCount; i++) {
const modeActivationCondition_t *mac = modeActivationConditions(activeLinkedMacArray[i]);
bool bActive = bitArrayGet(&andMask, mac->linkedTo) != bitArrayGet(&newMask, mac->linkedTo);
updateMasksForLinkedMac(mac, &andMask, &newMask);
updateMasksForMac(mac, &andMask, &newMask, bActive);
}
bitArrayXor(&newMask, sizeof(&newMask), &newMask, &andMask);