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Rebased

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This commit is contained in:
jflyper 2016-12-05 11:43:34 +09:00
commit 0cbe440cea
185 changed files with 2217 additions and 1943 deletions
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69
src/main/fc/fc_tasks.c
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@ -32,6 +32,7 @@
#include "drivers/accgyro.h"
#include "drivers/compass.h"
#include "drivers/serial.h"
#include "drivers/stack_check.h"
#include "fc/config.h"
#include "fc/fc_msp.h"
@ -74,6 +75,10 @@
#include "config/config_profile.h"
#include "config/config_master.h"
#ifdef USE_BST
void taskBstMasterProcess(timeUs_t currentTimeUs);
#endif
#define TASK_PERIOD_HZ(hz) (1000000 / (hz))
#define TASK_PERIOD_MS(ms) ((ms) * 1000)
#define TASK_PERIOD_US(us) (us)
@ -84,16 +89,16 @@
#define IBATINTERVAL (6 * 3500)
static void taskUpdateAccelerometer(uint32_t currentTime)
static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
{
UNUSED(currentTime);
UNUSED(currentTimeUs);
imuUpdateAccelerometer(&masterConfig.accelerometerTrims);
}
static void taskHandleSerial(uint32_t currentTime)
static void taskHandleSerial(timeUs_t currentTimeUs)
{
UNUSED(currentTime);
UNUSED(currentTimeUs);
#ifdef USE_CLI
// in cli mode, all serial stuff goes to here. enter cli mode by sending #
if (cliMode) {
@ -104,13 +109,13 @@ static void taskHandleSerial(uint32_t currentTime)
mspSerialProcess(ARMING_FLAG(ARMED) ? MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA, mspFcProcessCommand);
}
static void taskUpdateBattery(uint32_t currentTime)
static void taskUpdateBattery(timeUs_t currentTimeUs)
{
#ifdef USE_ADC
static uint32_t vbatLastServiced = 0;
if (feature(FEATURE_VBAT) || feature(FEATURE_ESC_TELEMETRY)) {
if (cmp32(currentTime, vbatLastServiced) >= VBATINTERVAL) {
vbatLastServiced = currentTime;
if (cmp32(currentTimeUs, vbatLastServiced) >= VBATINTERVAL) {
vbatLastServiced = currentTimeUs;
updateBattery();
}
}
@ -118,18 +123,18 @@ static void taskUpdateBattery(uint32_t currentTime)
static uint32_t ibatLastServiced = 0;
if (feature(FEATURE_CURRENT_METER) || feature(FEATURE_ESC_TELEMETRY)) {
const int32_t ibatTimeSinceLastServiced = cmp32(currentTime, ibatLastServiced);
const int32_t ibatTimeSinceLastServiced = cmp32(currentTimeUs, ibatLastServiced);
if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
ibatLastServiced = currentTime;
updateCurrentMeter(ibatTimeSinceLastServiced, &masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
ibatLastServiced = currentTimeUs;
updateCurrentMeter(ibatTimeSinceLastServiced, &masterConfig.rxConfig, flight3DConfig()->deadband3d_throttle);
}
}
}
static void taskUpdateRxMain(uint32_t currentTime)
static void taskUpdateRxMain(timeUs_t currentTimeUs)
{
processRx(currentTime);
processRx(currentTimeUs);
isRXDataNew = true;
#if !defined(BARO) && !defined(SONAR)
@ -152,18 +157,18 @@ static void taskUpdateRxMain(uint32_t currentTime)
}
#ifdef MAG
static void taskUpdateCompass(uint32_t currentTime)
static void taskUpdateCompass(timeUs_t currentTimeUs)
{
if (sensors(SENSOR_MAG)) {
compassUpdate(currentTime, &masterConfig.sensorTrims.magZero);
compassUpdate(currentTimeUs, &sensorTrims()->magZero);
}
}
#endif
#ifdef BARO
static void taskUpdateBaro(uint32_t currentTime)
static void taskUpdateBaro(timeUs_t currentTimeUs)
{
UNUSED(currentTime);
UNUSED(currentTimeUs);
if (sensors(SENSOR_BARO)) {
const uint32_t newDeadline = baroUpdate();
@ -175,7 +180,7 @@ static void taskUpdateBaro(uint32_t currentTime)
#endif
#if defined(BARO) || defined(SONAR)
static void taskCalculateAltitude(uint32_t currentTime)
static void taskCalculateAltitude(timeUs_t currentTimeUs)
{
if (false
#if defined(BARO)
@ -185,26 +190,26 @@ static void taskCalculateAltitude(uint32_t currentTime)
|| sensors(SENSOR_SONAR)
#endif
) {
calculateEstimatedAltitude(currentTime);
calculateEstimatedAltitude(currentTimeUs);
}}
#endif
#ifdef TELEMETRY
static void taskTelemetry(uint32_t currentTime)
static void taskTelemetry(timeUs_t currentTimeUs)
{
telemetryCheckState();
if (!cliMode && feature(FEATURE_TELEMETRY)) {
telemetryProcess(currentTime, &masterConfig.rxConfig, masterConfig.flight3DConfig.deadband3d_throttle);
telemetryProcess(currentTimeUs, &masterConfig.rxConfig, flight3DConfig()->deadband3d_throttle);
}
}
#endif
#ifdef USE_ESC_TELEMETRY
static void taskEscTelemetry(uint32_t currentTime)
static void taskEscTelemetry(timeUs_t currentTimeUs)
{
if (feature(FEATURE_ESC_TELEMETRY)) {
escTelemetryProcess(currentTime);
escTelemetryProcess(currentTimeUs);
}
}
#endif
@ -230,7 +235,7 @@ void fcTasksInit(void)
if (sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true);
rescheduleTask(TASK_ACCEL, accSamplingInterval);
rescheduleTask(TASK_ACCEL, acc.accSamplingInterval);
}
setTaskEnabled(TASK_ATTITUDE, sensors(SENSOR_ACC));
@ -266,10 +271,10 @@ void fcTasksInit(void)
#ifdef TELEMETRY
setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY));
if (feature(FEATURE_TELEMETRY)) {
if (masterConfig.rxConfig.serialrx_provider == SERIALRX_JETIEXBUS) {
if (rxConfig()->serialrx_provider == SERIALRX_JETIEXBUS) {
// Reschedule telemetry to 500hz for Jeti Exbus
rescheduleTask(TASK_TELEMETRY, TASK_PERIOD_HZ(500));
} else if (masterConfig.rxConfig.serialrx_provider == SERIALRX_CRSF) {
} else if (rxConfig()->serialrx_provider == SERIALRX_CRSF) {
// Reschedule telemetry to 500hz, 2ms for CRSF
rescheduleTask(TASK_TELEMETRY, TASK_PERIOD_HZ(500));
}
@ -297,6 +302,9 @@ void fcTasksInit(void)
setTaskEnabled(TASK_CMS, feature(FEATURE_OSD) || feature(FEATURE_DASHBOARD));
#endif
#endif
#ifdef STACK_CHECK
setTaskEnabled(TASK_STACK_CHECK, true);
#endif
#ifdef VTX_CONTROL
#ifdef VTX_SMARTAUDIO
setTaskEnabled(TASK_VTXCTRL, true);
@ -315,7 +323,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_GYROPID] = {
.taskName = "PID",
.subTaskName = "GYRO",
.taskFunc = taskMainPidLoopCheck,
.taskFunc = taskMainPidLoop,
.desiredPeriod = TASK_GYROPID_DESIRED_PERIOD,
.staticPriority = TASK_PRIORITY_REALTIME,
},
@ -480,6 +488,15 @@ cfTask_t cfTasks[TASK_COUNT] = {
},
#endif
#ifdef STACK_CHECK
[TASK_STACK_CHECK] = {
.taskName = "STACKCHECK",
.taskFunc = taskStackCheck,
.desiredPeriod = TASK_PERIOD_HZ(10), // 10 Hz
.staticPriority = TASK_PRIORITY_IDLE,
},
#endif
#ifdef VTX_CONTROL
[TASK_VTXCTRL] = {
.taskName = "VTXCTRL",