mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-16 21:05:35 +03:00
Renamed 'fc/fc_' files to remove the double 'fc'.
This commit is contained in:
mikeller
parent
fc60cc27e9
commit
0bce8549ee
40 changed files with 61 additions and 61 deletions
600
src/main/fc/tasks.c
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600
src/main/fc/tasks.c
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@ -0,0 +1,600 @@
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/*
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* This file is part of Cleanflight and Betaflight.
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*
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* Cleanflight and Betaflight are free software. You can redistribute
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* this software and/or modify this software under the terms of the
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* GNU General Public License as published by the Free Software
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* Foundation, either version 3 of the License, or (at your option)
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* any later version.
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*
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* Cleanflight and Betaflight are distributed in the hope that they
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* will be useful, but WITHOUT ANY WARRANTY; without even the implied
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* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this software.
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*
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdlib.h>
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#include <stdint.h>
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#include "platform.h"
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#include "build/debug.h"
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#include "cms/cms.h"
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#include "common/color.h"
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#include "common/utils.h"
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#include "config/feature.h"
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#include "drivers/accgyro/accgyro.h"
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#include "drivers/camera_control.h"
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#include "drivers/compass/compass.h"
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#include "drivers/sensor.h"
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#include "drivers/serial.h"
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#include "drivers/serial_usb_vcp.h"
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#include "drivers/stack_check.h"
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#include "drivers/transponder_ir.h"
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#include "drivers/usb_io.h"
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#include "drivers/vtx_common.h"
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#include "fc/config.h"
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#include "fc/core.h"
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#include "fc/rc.h"
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#include "fc/dispatch.h"
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#include "fc/rc_controls.h"
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#include "fc/runtime_config.h"
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#include "flight/position.h"
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#include "flight/imu.h"
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#include "flight/mixer.h"
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#include "flight/pid.h"
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#include "interface/cli.h"
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#include "interface/msp.h"
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#include "io/asyncfatfs/asyncfatfs.h"
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#include "io/beeper.h"
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#include "io/dashboard.h"
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#include "io/gps.h"
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#include "io/ledstrip.h"
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#include "io/osd.h"
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#include "io/piniobox.h"
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#include "io/serial.h"
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#include "io/transponder_ir.h"
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#include "io/vtx_tramp.h" // Will be gone
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#include "io/rcdevice_cam.h"
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#include "io/usb_cdc_hid.h"
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#include "io/vtx.h"
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#include "msp/msp_serial.h"
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#include "pg/rx.h"
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#include "rx/rx.h"
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#include "sensors/acceleration.h"
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#include "sensors/adcinternal.h"
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#include "sensors/barometer.h"
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#include "sensors/battery.h"
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#include "sensors/compass.h"
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#include "sensors/esc_sensor.h"
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#include "sensors/gyro.h"
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#include "sensors/sensors.h"
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#include "sensors/rangefinder.h"
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#include "scheduler/scheduler.h"
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#include "telemetry/telemetry.h"
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#ifdef USE_BST
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#include "i2c_bst.h"
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#endif
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#ifdef USE_USB_CDC_HID
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//TODO: Make it platform independent in the future
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#ifdef STM32F4
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#include "vcpf4/usbd_cdc_vcp.h"
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#include "usbd_hid_core.h"
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#elif defined(STM32F7)
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#include "usbd_cdc_interface.h"
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#include "usbd_hid.h"
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#endif
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#endif
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#include "tasks.h"
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static void taskMain(timeUs_t currentTimeUs)
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{
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UNUSED(currentTimeUs);
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#ifdef USE_SDCARD
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afatfs_poll();
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#endif
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}
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static void taskHandleSerial(timeUs_t currentTimeUs)
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{
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UNUSED(currentTimeUs);
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#if defined(USE_VCP)
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DEBUG_SET(DEBUG_USB, 0, usbCableIsInserted());
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DEBUG_SET(DEBUG_USB, 1, usbVcpIsConnected());
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#endif
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#ifdef USE_CLI
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// in cli mode, all serial stuff goes to here. enter cli mode by sending #
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if (cliMode) {
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cliProcess();
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return;
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}
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#endif
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bool evaluateMspData = ARMING_FLAG(ARMED) ? MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA;
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mspSerialProcess(evaluateMspData, mspFcProcessCommand, mspFcProcessReply);
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}
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static void taskBatteryAlerts(timeUs_t currentTimeUs)
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{
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if (!ARMING_FLAG(ARMED)) {
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// the battery *might* fall out in flight, but if that happens the FC will likely be off too unless the user has battery backup.
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batteryUpdatePresence();
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}
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batteryUpdateStates(currentTimeUs);
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batteryUpdateAlarms();
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}
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static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
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{
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accUpdate(currentTimeUs, &accelerometerConfigMutable()->accelerometerTrims);
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}
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static void taskUpdateRxMain(timeUs_t currentTimeUs)
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{
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if (!processRx(currentTimeUs)) {
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return;
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}
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static timeUs_t lastRxTimeUs;
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currentRxRefreshRate = constrain(currentTimeUs - lastRxTimeUs, 1000, 30000);
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lastRxTimeUs = currentTimeUs;
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isRXDataNew = true;
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#ifdef USE_USB_CDC_HID
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if (!ARMING_FLAG(ARMED)) {
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sendRcDataToHid();
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}
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#endif
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// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
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updateRcCommands();
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updateArmingStatus();
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}
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#ifdef USE_BARO
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static void taskUpdateBaro(timeUs_t currentTimeUs)
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{
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UNUSED(currentTimeUs);
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if (sensors(SENSOR_BARO)) {
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const uint32_t newDeadline = baroUpdate();
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if (newDeadline != 0) {
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rescheduleTask(TASK_SELF, newDeadline);
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}
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}
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}
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#endif
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#if defined(USE_BARO) || defined(USE_GPS)
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static void taskCalculateAltitude(timeUs_t currentTimeUs)
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{
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calculateEstimatedAltitude(currentTimeUs);
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}
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#endif // USE_BARO || USE_GPS
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#ifdef USE_TELEMETRY
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static void taskTelemetry(timeUs_t currentTimeUs)
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{
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if (!cliMode && featureIsEnabled(FEATURE_TELEMETRY)) {
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subTaskTelemetryPollSensors(currentTimeUs);
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telemetryProcess(currentTimeUs);
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}
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}
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#endif
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#ifdef USE_CAMERA_CONTROL
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static void taskCameraControl(uint32_t currentTime)
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{
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if (ARMING_FLAG(ARMED)) {
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return;
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}
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cameraControlProcess(currentTime);
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}
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#endif
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void fcTasksInit(void)
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{
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schedulerInit();
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setTaskEnabled(TASK_MAIN, true);
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setTaskEnabled(TASK_SERIAL, true);
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rescheduleTask(TASK_SERIAL, TASK_PERIOD_HZ(serialConfig()->serial_update_rate_hz));
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const bool useBatteryVoltage = batteryConfig()->voltageMeterSource != VOLTAGE_METER_NONE;
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setTaskEnabled(TASK_BATTERY_VOLTAGE, useBatteryVoltage);
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const bool useBatteryCurrent = batteryConfig()->currentMeterSource != CURRENT_METER_NONE;
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setTaskEnabled(TASK_BATTERY_CURRENT, useBatteryCurrent);
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const bool useBatteryAlerts = batteryConfig()->useVBatAlerts || batteryConfig()->useConsumptionAlerts || featureIsEnabled(FEATURE_OSD);
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setTaskEnabled(TASK_BATTERY_ALERTS, (useBatteryVoltage || useBatteryCurrent) && useBatteryAlerts);
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#ifdef USE_TRANSPONDER
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setTaskEnabled(TASK_TRANSPONDER, featureIsEnabled(FEATURE_TRANSPONDER));
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#endif
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#ifdef STACK_CHECK
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setTaskEnabled(TASK_STACK_CHECK, true);
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#endif
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if (sensors(SENSOR_GYRO)) {
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rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
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setTaskEnabled(TASK_GYROPID, true);
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}
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if (sensors(SENSOR_ACC)) {
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setTaskEnabled(TASK_ACCEL, true);
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rescheduleTask(TASK_ACCEL, acc.accSamplingInterval);
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setTaskEnabled(TASK_ATTITUDE, true);
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}
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setTaskEnabled(TASK_RX, true);
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setTaskEnabled(TASK_DISPATCH, dispatchIsEnabled());
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#ifdef USE_BEEPER
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setTaskEnabled(TASK_BEEPER, true);
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#endif
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#ifdef USE_GPS
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setTaskEnabled(TASK_GPS, featureIsEnabled(FEATURE_GPS));
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#endif
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#ifdef USE_MAG
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setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
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#endif
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#ifdef USE_BARO
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setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
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#endif
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#if defined(USE_BARO) || defined(USE_GPS)
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setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || featureIsEnabled(FEATURE_GPS));
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#endif
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#ifdef USE_DASHBOARD
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setTaskEnabled(TASK_DASHBOARD, featureIsEnabled(FEATURE_DASHBOARD));
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#endif
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#ifdef USE_TELEMETRY
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if (featureIsEnabled(FEATURE_TELEMETRY)) {
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setTaskEnabled(TASK_TELEMETRY, true);
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if (rxConfig()->serialrx_provider == SERIALRX_JETIEXBUS) {
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// Reschedule telemetry to 500hz for Jeti Exbus
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rescheduleTask(TASK_TELEMETRY, TASK_PERIOD_HZ(500));
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} else if (rxConfig()->serialrx_provider == SERIALRX_CRSF) {
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// Reschedule telemetry to 500hz, 2ms for CRSF
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rescheduleTask(TASK_TELEMETRY, TASK_PERIOD_HZ(500));
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}
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}
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#endif
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#ifdef USE_LED_STRIP
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setTaskEnabled(TASK_LEDSTRIP, featureIsEnabled(FEATURE_LED_STRIP));
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#endif
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#ifdef USE_TRANSPONDER
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setTaskEnabled(TASK_TRANSPONDER, featureIsEnabled(FEATURE_TRANSPONDER));
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#endif
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#ifdef USE_OSD
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setTaskEnabled(TASK_OSD, featureIsEnabled(FEATURE_OSD) && osdInitialized());
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#endif
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#ifdef USE_BST
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setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
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#endif
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#ifdef USE_ESC_SENSOR
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setTaskEnabled(TASK_ESC_SENSOR, featureIsEnabled(FEATURE_ESC_SENSOR));
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#endif
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#ifdef USE_ADC_INTERNAL
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setTaskEnabled(TASK_ADC_INTERNAL, true);
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#endif
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#ifdef USE_PINIOBOX
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setTaskEnabled(TASK_PINIOBOX, true);
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#endif
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#ifdef USE_CMS
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#ifdef USE_MSP_DISPLAYPORT
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setTaskEnabled(TASK_CMS, true);
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#else
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setTaskEnabled(TASK_CMS, featureIsEnabled(FEATURE_OSD) || featureIsEnabled(FEATURE_DASHBOARD));
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#endif
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#endif
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#ifdef USE_VTX_CONTROL
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#if defined(USE_VTX_RTC6705) || defined(USE_VTX_SMARTAUDIO) || defined(USE_VTX_TRAMP)
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setTaskEnabled(TASK_VTXCTRL, true);
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#endif
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#endif
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#ifdef USE_CAMERA_CONTROL
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setTaskEnabled(TASK_CAMCTRL, true);
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#endif
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#ifdef USE_RCDEVICE
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setTaskEnabled(TASK_RCDEVICE, rcdeviceIsEnabled());
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#endif
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}
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cfTask_t cfTasks[TASK_COUNT] = {
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[TASK_SYSTEM] = {
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.taskName = "SYSTEM",
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.subTaskName = "LOAD",
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.taskFunc = taskSystemLoad,
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.desiredPeriod = TASK_PERIOD_HZ(10), // 10Hz, every 100 ms
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.staticPriority = TASK_PRIORITY_MEDIUM_HIGH,
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},
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[TASK_MAIN] = {
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.taskName = "SYSTEM",
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.subTaskName = "UPDATE",
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.taskFunc = taskMain,
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.desiredPeriod = TASK_PERIOD_HZ(1000),
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.staticPriority = TASK_PRIORITY_MEDIUM_HIGH,
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},
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[TASK_SERIAL] = {
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.taskName = "SERIAL",
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.taskFunc = taskHandleSerial,
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.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz should be enough to flush up to 115 bytes @ 115200 baud
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.staticPriority = TASK_PRIORITY_LOW,
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},
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[TASK_BATTERY_ALERTS] = {
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.taskName = "BATTERY_ALERTS",
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.taskFunc = taskBatteryAlerts,
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.desiredPeriod = TASK_PERIOD_HZ(5), // 5 Hz
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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[TASK_BATTERY_VOLTAGE] = {
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.taskName = "BATTERY_VOLTAGE",
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.taskFunc = batteryUpdateVoltage,
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.desiredPeriod = TASK_PERIOD_HZ(50),
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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[TASK_BATTERY_CURRENT] = {
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.taskName = "BATTERY_CURRENT",
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.taskFunc = batteryUpdateCurrentMeter,
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.desiredPeriod = TASK_PERIOD_HZ(50),
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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#ifdef USE_TRANSPONDER
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[TASK_TRANSPONDER] = {
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.taskName = "TRANSPONDER",
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.taskFunc = transponderUpdate,
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.desiredPeriod = TASK_PERIOD_HZ(250), // 250 Hz, 4ms
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.staticPriority = TASK_PRIORITY_LOW,
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},
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#endif
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#ifdef STACK_CHECK
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[TASK_STACK_CHECK] = {
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.taskName = "STACKCHECK",
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.taskFunc = taskStackCheck,
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.desiredPeriod = TASK_PERIOD_HZ(10), // 10 Hz
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.staticPriority = TASK_PRIORITY_IDLE,
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},
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#endif
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[TASK_GYROPID] = {
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.taskName = "PID",
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.subTaskName = "GYRO",
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.taskFunc = taskMainPidLoop,
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.desiredPeriod = TASK_GYROPID_DESIRED_PERIOD,
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.staticPriority = TASK_PRIORITY_REALTIME,
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},
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[TASK_ACCEL] = {
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.taskName = "ACC",
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.taskFunc = taskUpdateAccelerometer,
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.desiredPeriod = TASK_PERIOD_HZ(1000), // 1000Hz, every 1ms
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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[TASK_ATTITUDE] = {
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.taskName = "ATTITUDE",
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.taskFunc = imuUpdateAttitude,
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.desiredPeriod = TASK_PERIOD_HZ(100),
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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[TASK_RX] = {
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.taskName = "RX",
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.checkFunc = rxUpdateCheck,
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.taskFunc = taskUpdateRxMain,
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.desiredPeriod = TASK_PERIOD_HZ(33), // If event-based scheduling doesn't work, fallback to periodic scheduling
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.staticPriority = TASK_PRIORITY_HIGH,
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},
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[TASK_DISPATCH] = {
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.taskName = "DISPATCH",
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.taskFunc = dispatchProcess,
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.desiredPeriod = TASK_PERIOD_HZ(1000),
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.staticPriority = TASK_PRIORITY_HIGH,
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},
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|
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#ifdef USE_BEEPER
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[TASK_BEEPER] = {
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.taskName = "BEEPER",
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.taskFunc = beeperUpdate,
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.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz
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.staticPriority = TASK_PRIORITY_LOW,
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},
|
||||
#endif
|
||||
|
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#ifdef USE_GPS
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[TASK_GPS] = {
|
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.taskName = "GPS",
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.taskFunc = gpsUpdate,
|
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.desiredPeriod = TASK_PERIOD_HZ(100), // Required to prevent buffer overruns if running at 115200 baud (115 bytes / period < 256 bytes buffer)
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.staticPriority = TASK_PRIORITY_MEDIUM,
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},
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#endif
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#ifdef USE_MAG
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[TASK_COMPASS] = {
|
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.taskName = "COMPASS",
|
||||
.taskFunc = compassUpdate,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(10), // Compass is updated at 10 Hz
|
||||
.staticPriority = TASK_PRIORITY_LOW,
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||||
},
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||||
#endif
|
||||
|
||||
#ifdef USE_BARO
|
||||
[TASK_BARO] = {
|
||||
.taskName = "BARO",
|
||||
.taskFunc = taskUpdateBaro,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(20),
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#if defined(USE_BARO) || defined(USE_GPS)
|
||||
[TASK_ALTITUDE] = {
|
||||
.taskName = "ALTITUDE",
|
||||
.taskFunc = taskCalculateAltitude,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(40),
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef USE_DASHBOARD
|
||||
[TASK_DASHBOARD] = {
|
||||
.taskName = "DASHBOARD",
|
||||
.taskFunc = dashboardUpdate,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(10),
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef USE_OSD
|
||||
[TASK_OSD] = {
|
||||
.taskName = "OSD",
|
||||
.taskFunc = osdUpdate,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(60), // 60 Hz
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef USE_TELEMETRY
|
||||
[TASK_TELEMETRY] = {
|
||||
.taskName = "TELEMETRY",
|
||||
.taskFunc = taskTelemetry,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(250), // 250 Hz, 4ms
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef USE_LED_STRIP
|
||||
[TASK_LEDSTRIP] = {
|
||||
.taskName = "LEDSTRIP",
|
||||
.taskFunc = ledStripUpdate,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz, 10ms
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef USE_BST
|
||||
[TASK_BST_MASTER_PROCESS] = {
|
||||
.taskName = "BST_MASTER_PROCESS",
|
||||
.taskFunc = taskBstMasterProcess,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(50), // 50 Hz, 20ms
|
||||
.staticPriority = TASK_PRIORITY_IDLE,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef USE_ESC_SENSOR
|
||||
[TASK_ESC_SENSOR] = {
|
||||
.taskName = "ESC_SENSOR",
|
||||
.taskFunc = escSensorProcess,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(100), // 100 Hz, 10ms
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef USE_CMS
|
||||
[TASK_CMS] = {
|
||||
.taskName = "CMS",
|
||||
.taskFunc = cmsHandler,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(60), // 60 Hz
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef USE_VTX_CONTROL
|
||||
[TASK_VTXCTRL] = {
|
||||
.taskName = "VTXCTRL",
|
||||
.taskFunc = vtxUpdate,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(5), // 5 Hz, 200ms
|
||||
.staticPriority = TASK_PRIORITY_IDLE,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef USE_RCDEVICE
|
||||
[TASK_RCDEVICE] = {
|
||||
.taskName = "RCDEVICE",
|
||||
.taskFunc = rcdeviceUpdate,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(20),
|
||||
.staticPriority = TASK_PRIORITY_MEDIUM,
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef USE_CAMERA_CONTROL
|
||||
[TASK_CAMCTRL] = {
|
||||
.taskName = "CAMCTRL",
|
||||
.taskFunc = taskCameraControl,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(5),
|
||||
.staticPriority = TASK_PRIORITY_IDLE
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef USE_ADC_INTERNAL
|
||||
[TASK_ADC_INTERNAL] = {
|
||||
.taskName = "ADCINTERNAL",
|
||||
.taskFunc = adcInternalProcess,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(1),
|
||||
.staticPriority = TASK_PRIORITY_IDLE
|
||||
},
|
||||
#endif
|
||||
|
||||
#ifdef USE_PINIOBOX
|
||||
[TASK_PINIOBOX] = {
|
||||
.taskName = "PINIOBOX",
|
||||
.taskFunc = pinioBoxUpdate,
|
||||
.desiredPeriod = TASK_PERIOD_HZ(20),
|
||||
.staticPriority = TASK_PRIORITY_IDLE
|
||||
},
|
||||
#endif
|
||||
};
|
||||
Loading…
Add table
Add a link
Reference in a new issue