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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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71
src/main/main.c
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@ -62,6 +62,9 @@
#include "bus_bst.h"
#endif
#include "fc/fc_tasks.h"
#include "fc/rc_controls.h"
#include "rx/rx.h"
#include "rx/spektrum.h"
@ -111,8 +114,6 @@
#include "config/config_master.h"
#include "config/feature.h"
#define LOOPTIME_SUSPEND_TIME 3 // Prevent too long busy wait times
#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
#endif
@ -658,6 +659,7 @@ void init(void)
latchActiveFeatures();
motorControlEnable = true;
fcTasksInit();
systemState |= SYSTEM_STATE_READY;
}
@ -675,67 +677,6 @@ void processLoopback(void) {
#define processLoopback()
#endif
void main_init(void)
{
init();
/* Setup scheduler */
schedulerInit();
rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
setTaskEnabled(TASK_GYROPID, true);
if (sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true);
rescheduleTask(TASK_ACCEL, accSamplingInterval);
}
setTaskEnabled(TASK_ATTITUDE, sensors(SENSOR_ACC));
setTaskEnabled(TASK_SERIAL, true);
#ifdef BEEPER
setTaskEnabled(TASK_BEEPER, true);
#endif
setTaskEnabled(TASK_BATTERY, feature(FEATURE_VBAT) || feature(FEATURE_CURRENT_METER));
setTaskEnabled(TASK_RX, true);
#ifdef GPS
setTaskEnabled(TASK_GPS, feature(FEATURE_GPS));
#endif
#ifdef MAG
setTaskEnabled(TASK_COMPASS, sensors(SENSOR_MAG));
#if defined(USE_SPI) && defined(USE_MAG_AK8963)
// fixme temporary solution for AK6983 via slave I2C on MPU9250
rescheduleTask(TASK_COMPASS, 1000000 / 40);
#endif
#endif
#ifdef BARO
setTaskEnabled(TASK_BARO, sensors(SENSOR_BARO));
#endif
#ifdef SONAR
setTaskEnabled(TASK_SONAR, sensors(SENSOR_SONAR));
#endif
#if defined(BARO) || defined(SONAR)
setTaskEnabled(TASK_ALTITUDE, sensors(SENSOR_BARO) || sensors(SENSOR_SONAR));
#endif
#ifdef DISPLAY
setTaskEnabled(TASK_DISPLAY, feature(FEATURE_DISPLAY));
#endif
#ifdef TELEMETRY
setTaskEnabled(TASK_TELEMETRY, feature(FEATURE_TELEMETRY));
// Reschedule telemetry to 500hz for Jeti Exbus
if (feature(FEATURE_TELEMETRY) || masterConfig.rxConfig.serialrx_provider == SERIALRX_JETIEXBUS) rescheduleTask(TASK_TELEMETRY, 2000);
#endif
#ifdef LED_STRIP
setTaskEnabled(TASK_LEDSTRIP, feature(FEATURE_LED_STRIP));
#endif
#ifdef TRANSPONDER
setTaskEnabled(TASK_TRANSPONDER, feature(FEATURE_TRANSPONDER));
#endif
#ifdef OSD
setTaskEnabled(TASK_OSD, feature(FEATURE_OSD));
#endif
#ifdef USE_BST
setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
#endif
}
void main_step(void)
{
@ -746,8 +687,8 @@ void main_step(void)
#ifndef NOMAIN
int main(void)
{
main_init();
while(1) {
init();
while (true) {
main_step();
}
}