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CF/BF - First cut of Current/Voltage/Battery cleanup.

Browse source 
many refactorings, bugs squished, concerns separated,
single-responsibility violations fixed and performance optimizations.
This commit is contained in:
Hydra 2017-03-12 11:26:30 +00:00 • committed by Dominic Clifton
parent b46e0fe46d
commit 067d3c0ac2
69 changed files with 1178 additions and 514 deletions
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54
src/main/fc/fc_tasks.c
View file

@ -26,6 +26,7 @@
#include "common/axis.h"
#include "common/color.h"
#include "common/utils.h"
#include "common/filter.h"
#include "config/feature.h"
#include "config/config_profile.h"
@ -114,29 +115,44 @@ static void taskHandleSerial(timeUs_t currentTimeUs)
mspSerialProcess(ARMING_FLAG(ARMED) ? MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA, mspFcProcessCommand);
}
static void taskUpdateBattery(timeUs_t currentTimeUs)
void taskBatterySensors(timeUs_t currentTimeUs)
{
#if defined(USE_ADC) || defined(USE_ESC_SENSOR)
if (feature(FEATURE_VBAT) || feature(FEATURE_ESC_SENSOR)) {
static uint32_t vbatLastServiced = 0;
static uint32_t vbatLastServiced = 0;
if (batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE) {
if (cmp32(currentTimeUs, vbatLastServiced) >= VBATINTERVAL) {
vbatLastServiced = currentTimeUs;
updateBattery();
batteryUpdateVoltage();
}
}
#endif
if (feature(FEATURE_CURRENT_METER) || feature(FEATURE_ESC_SENSOR)) {
if (batteryConfig()->currentMeterSource != CURRENT_METER_NONE) {
static uint32_t ibatLastServiced = 0;
const int32_t ibatTimeSinceLastServiced = cmp32(currentTimeUs, ibatLastServiced);
if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
ibatLastServiced = currentTimeUs;
updateCurrentMeter(ibatTimeSinceLastServiced);
batteryUpdateCurrentMeter(ibatTimeSinceLastServiced, ARMING_FLAG(ARMED));
}
}
}
void taskBatteryAlerts(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
if (!ARMING_FLAG(ARMED)) {
// the battery *might* fall out in flight, but if that happens the FC will likely be off too unless the user has battery backup.
batteryUpdatePresence();
}
batteryUpdateStates();
batteryUpdateAlarms();
}
static void taskUpdateRxMain(timeUs_t currentTimeUs)
{
processRx(currentTimeUs);
@ -237,7 +253,13 @@ void fcTasksInit(void)
setTaskEnabled(TASK_ATTITUDE, sensors(SENSOR_ACC));
setTaskEnabled(TASK_SERIAL, true);
rescheduleTask(TASK_SERIAL, TASK_PERIOD_HZ(serialConfig()->serial_update_rate_hz));
setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER));
bool useBatterySensors = batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE || batteryConfig()->currentMeterSource != CURRENT_METER_NONE;
setTaskEnabled(TASK_BATTERY_SENSORS, useBatterySensors);
bool useBatteryAlerts = batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts || feature(FEATURE_OSD);
setTaskEnabled(TASK_BATTERY_ALERTS, useBatterySensors && useBatteryAlerts);
setTaskEnabled(TASK_RX, true);
setTaskEnabled(TASK_DISPATCH, dispatchIsEnabled());
@ -366,13 +388,19 @@ cfTask_t cfTasks[TASK_COUNT] = {
.staticPriority = TASK_PRIORITY_HIGH,
},
[TASK_BATTERY] = {
.taskName = "BATTERY",
.taskFunc = taskUpdateBattery,
.desiredPeriod = TASK_PERIOD_HZ(50), // 50 Hz
[TASK_BATTERY_ALERTS] = {
.taskName = "BATTERY_ALERTS",
.taskFunc = taskBatteryAlerts,
.desiredPeriod = TASK_PERIOD_HZ(5), // 5 Hz
.staticPriority = TASK_PRIORITY_MEDIUM,
},
[TASK_BATTERY_SENSORS] = {
.taskName = "BATTERY_SENSORS",
.taskFunc = taskBatterySensors,
.desiredPeriod = TASK_PERIOD_HZ(50), // 50 Hz
.staticPriority = TASK_PRIORITY_MEDIUM,
},
#ifdef BEEPER
[TASK_BEEPER] = {
.taskName = "BEEPER",