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Code Issues Wiki Activity

Reorganisation of tasks into fc_tasks.c

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This commit is contained in:
Martin Budden 2016-09-18 19:18:26 +01:00
parent 92d2e3ae91
commit 0ccb7040f0
8 changed files with 516 additions and 283 deletions
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45
src/main/fc/mw.c
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@ -16,17 +16,16 @@
*/
#include <stdbool.h>
#include <stdlib.h>
#include <stdint.h>
#include <math.h>
#include "platform.h"
#include "build/debug.h"
#include "blackbox/blackbox.h"
#include "common/maths.h"
#include "common/axis.h"
#include "common/color.h"
#include "common/utils.h"
#include "common/filter.h"
@ -35,54 +34,39 @@
#include "drivers/compass.h"
#include "drivers/light_led.h"
#include "drivers/gpio.h"
#include "drivers/system.h"
#include "drivers/serial.h"
#include "drivers/timer.h"
#include "drivers/pwm_rx.h"
#include "drivers/gyro_sync.h"
#include "sensors/sensors.h"
#include "sensors/boardalignment.h"
#include "sensors/sonar.h"
#include "sensors/compass.h"
#include "sensors/acceleration.h"
#include "sensors/barometer.h"
#include "sensors/gyro.h"
#include "sensors/battery.h"
#include "io/beeper.h"
#include "io/display.h"
#include "io/motors.h"
#include "io/servos.h"
#include "fc/rc_controls.h"
#include "fc/rc_curves.h"
#include "io/gimbal.h"
#include "io/gps.h"
#include "io/ledstrip.h"
#include "io/serial.h"
#include "io/serial_cli.h"
#include "io/serial_msp.h"
#include "io/statusindicator.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/transponder_ir.h"
#include "io/osd.h"
#include "io/vtx.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "rx/rx.h"
#include "rx/msp.h"
#include "telemetry/telemetry.h"
#include "blackbox/blackbox.h"
#include "scheduler/scheduler.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/imu.h"
#include "flight/altitudehold.h"
#include "flight/failsafe.h"
#include "flight/gtune.h"
#include "flight/navigation.h"
#include "fc/runtime_config.h"
#include "config/config.h"
@ -90,9 +74,6 @@
#include "config/config_master.h"
#include "config/feature.h"
#include "scheduler/scheduler.h"
#include "scheduler/scheduler_tasks.h"
// June 2013 V2.2-dev
enum {
@ -101,10 +82,6 @@ enum {
ALIGN_MAG = 2
};
/* VBAT monitoring interval (in microseconds) - 1s*/
#define VBATINTERVAL (6 * 3500)
/* IBat monitoring interval (in microseconds) - 6 default looptimes */
#define IBATINTERVAL (6 * 3500)
#define GYRO_WATCHDOG_DELAY 80 // delay for gyro sync
@ -122,7 +99,8 @@ static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the m
extern uint8_t PIDweight[3];
static bool isRXDataNew;
uint16_t filteredCycleTime;
bool isRXDataNew;
static bool armingCalibrationWasInitialised;
float setpointRate[3];
float rcInput[3];
@ -297,7 +275,7 @@ void processRcCommand(void)
}
}
static void updateRcCommands(void)
void updateRcCommands(void)
{
// PITCH & ROLL only dynamic PID adjustment, depending on throttle value
int32_t prop;
@ -361,7 +339,7 @@ static void updateRcCommands(void)
}
}
static void updateLEDs(void)
void updateLEDs(void)
{
if (ARMING_FLAG(ARMED)) {
LED0_ON;
@ -869,6 +847,7 @@ void taskMainPidLoopCheck(uint32_t currentTime)
runTaskMainSubprocesses = true;
}
}
<<<<<<< 92d2e3ae91522c306728193a386d350c612249cc
void taskUpdateAccelerometer(uint32_t currentTime)
{
@ -1064,3 +1043,5 @@ void taskUpdateOsd(uint32_t currentTime)
}
}
#endif
=======
>>>>>>> Reorganisation of tasks into fc_tasks.c