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Implementation of KISS ESC Telemetry protocol

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This commit is contained in:
Bas Delfos 2016-11-10 21:08:59 +01:00
parent 14370426af
commit 16178a0662
20 changed files with 428 additions and 31 deletions
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22
src/main/fc/fc_tasks.c
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@ -66,6 +66,7 @@
#include "scheduler/scheduler.h"
#include "telemetry/telemetry.h"
#include "telemetry/esc_telemetry.h"
#include "config/feature.h"
#include "config/config_profile.h"
@ -194,6 +195,15 @@ static void taskTelemetry(uint32_t currentTime)
}
#endif
#ifdef USE_ESC_TELEMETRY
static void taskEscTelemetry(uint32_t currentTime)
{
if (feature(FEATURE_ESC_TELEMETRY)) {
escTelemetryProcess(currentTime);
}
}
#endif
void fcTasksInit(void)
{
schedulerInit();
@ -254,6 +264,9 @@ void fcTasksInit(void)
#ifdef USE_BST
setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
#endif
#ifdef USE_ESC_TELEMETRY
setTaskEnabled(TASK_ESC_TELEMETRY, feature(FEATURE_ESC_TELEMETRY));
#endif
#ifdef CMS
#ifdef USE_MSP_DISPLAYPORT
setTaskEnabled(TASK_CMS, true);
@ -421,6 +434,15 @@ cfTask_t cfTasks[TASK_COUNT] = {
},
#endif
#ifdef USE_ESC_TELEMETRY
[TASK_ESC_TELEMETRY] = {
.taskName = "ESC_TELEMETRY",
.taskFunc = taskEscTelemetry,
.desiredPeriod = 1000000 / 100, // 100 Hz
.staticPriority = TASK_PRIORITY_LOW,
},
#endif
#ifdef CMS
[TASK_CMS] = {
.taskName = "CMS",